1. Innovation Center Computer Assisted Surgery, 04103 Leipzig, Germany
2. Fraunhofer Institute for Cell Therapy and Immunology and Fraunhofer Cluster of Excellence for Immune-Mediated Disease, 04103 Leipzig, Germany
3. Institute for Biomedical Engineering, University and ETH Zurich, 8092 Zurich, Switzerland
4. Fraunhofer Institute for Biomedical Engineering, 66386 St. Ingbert, Germany
5. Institute of Medical Science and Technology, University of Dundee, Dundee DD1 4HN, UK