1. Interventional Molecular Imaging Laboratory, Department of Radiology, Leiden University Medical Center, Leiden, The Netherlands
2. Department of Surgery, Leiden University Medical Center, Leiden, The Netherlands
3. Department of Urology, The Netherlands Cancer Institute-Antoni van Leeuwenhoek Hospital, Amsterdam, The Netherlands
4. Computer Aided Medical Procedures, Technische Universität München, Institut für Informatik, Garching bei München, Germany
5. Computer Aided Medical Procedures, Johns Hopkins University, Baltimore, Maryland