1. Jaydev P Desai, Director, Robotics, Automation, Manipulation & Sensing Laboratory, University of Maryland, College Park, MD 20742, USA, Tel.: +1 301 405 4427, Fax: +1 301 314 9477,
2. Rao Gullapalli, Department of Diagnostic Radiology, University of Maryland School of Medicine, Baltimore, MD, USA, Tel.: +1 410 328 2099, Fax: +1 410 328 5937,