[1] Univ Penn, Sch Engn & Appl Sci, Dept Bioengn, Philadelphia, PA 19104 USA
[2] Jiangsu Univ, Sch Agr Equipment Engn, Zhenjiang 212013, Jiangsu, Peoples R China
[3] Univ Penn, Ctr Precis Surg, Perelman Sch Med, Philadelphia, PA 19104 USA
[4] Univ Penn, Perelman Sch Med, Dept Surg, Div Thorac Surg, Philadelphia, PA 19104 USA