1. NanoRobotics Laboratory, Department of Computer and Software Engineering, Institute of Biomedical Engineering, Polytechnique Montréal, Montréal, Québec, Canada H3C3A7
2. Department of Biomedical Engineering, Faculty of Medicine, McGill University, Montréal, Québec, Canada H3A2B4
3. Faculty of Dentistry, McGill University, Montréal, Québec, Canada H3A0C7