1. Department of Surgery, Harvard Medical School and the Massachusetts General Hospital, Boston, Massachusetts; The Center For Innovative Minimally Invasive Therapy, Boston, Massachusetts.
2. The Charles Stark Draper Laboratories, Cambridge, Massachusetts; The Center For Innovative Minimally Invasive Therapy, Boston, Massachusetts.
3. The Center For Innovative Minimally Invasive Therapy, Boston, Massachusetts; Department of Pathology, Harvard Medical School and Massachusetts General Hospital, Boston, Massachusetts.