¹Department of Mechanical Engineering, Massachusetts Institute of Technology, ²Department of Nuclear Science and Engineering, Massachusetts Institute of Technology, ³Department of Mechanical Engineering, University of Arkansas, ⁴Department of Materials Science and Engineering, Massachusetts Institute of Technology

¹Department of General Surgery, Sir Run Run Shaw Hospital, Zhejiang University School of Medicine, ²Zhejiang Province Medical Research Center of Minimally Invasive Diagnosis and Treatment of Abdominal Diseases, ³Dr. Li Dak Sum & Yip Yio Chin Center for Stem Cells and Regenerative Medicine, Department of Orthopedic Surgery of the Second Affiliated Hospital, Zhejiang University School of Medicine, ⁴Zhejiang University-University of Edinburgh Institute, Zhejiang University School of Medicine, Key Laboratory of Tissue Engineering and Regenerative Medicine of Zhejiang Province, Zhejiang University School of Medicine, ⁵Zhejiang Provincial Key Laboratory of Laparoscopic Technology

¹Department of Physics, University of Cambridge, ²Cancer Research UK Cambridge Institute, University of Cambridge, ³Ultrasound and Underwater Acoustics Group, Department of Medical, Marine and Nuclear Physics, National Physical Laboratory, ⁴School of Science and Engineering, University of Dundee, ⁵Centre for Medical Engineering and Technology, University of Dundee