1. Department of Electrical and Electronic Engineering, EPSRC Centre for Doctoral Training in Digital Health and Care, University of Bristol , Bristol , UK
2. Department of Academic Obstetrics & Gynaecology, Liverpool Women’s Hospital , Liverpool , UK
3. Department of Engineering Mathematics and Bristol Robotics Laboratory, University of Bristol , Bristol , UK
4. Department of Medical Physics, University Hospitals Bristol and Weston NHS FT , Bristol , UK