1. Department of Medical Imaging, Radboud University Medical Center, P.O. Box 9101 (766), 6500 HB Nijmegen, The Netherlands
2. Department of Robotics and Mechatronics, University of Twente, 7522 NB Enschede, The Netherlands
3. Department of Surgery, Radboud University Medical Center, 6525 GA Nijmegen, The Netherlands
4. Department of Health Technology Implementation, TechMed Center, University of Twente, 7522 NB Enschede, The Netherlands