1. Department of Mechanical Engineering, Tufts University, 200 College Avenue, Medford, MA, USA
2. Center for Modeling, Simulation and Imaging in Medicine, Rensselaer Polytechnic Institute, 110 8th Street, Troy, NY, USA
3. Department of Surgery, Beth Israel Deaconess Medical Center, 330 Brookline Avenue, TCC 140, Boston, MA, USA
4. Department of Surgery, Cambridge Health Alliance Hospital, 1493 Cambridge Street, Cambridge, MA, USA