1. Canadian Surgical Technologies & Advanced Robotics (CSTAR), Lawson Health Research Institute, London, ON Canada
2. Department of Electrical and Computer Engineering, The University of Western Ontario, London, ON Canada.
3. Department of Diagnostic Radiology and Nuclear Medicine, The University of Western Ontario, London, ON Canada.
4. Department of Surgery, The University of Western Ontario, London, ON Canada.
5. Department of Mechanical and Materials Engineering, The University of Western Ontario, London, ON Canada.
6. [Department of Surgery, Division of Cardiac Surgery, The University of Western Ontario, London, ON Canada.