1. The Griffin Institute, Northwick Park & St Marks’ Hospital , London , UK
2. Wellcome/ESPRC Centre for Interventional Surgical Sciences (WEISS), University College London (UCL) , London , UK
3. Division of Surgery and Interventional Science, Research Department of Targeted Intervention, UCL , London , UK
4. Medical Physics and Biomedical Engineering, UCL , London , UK
5. Department of General Surgey, Dorset County Hospital NHS Foundation Trust , Dorchester , UK
6. University College London Hospitals NHS Foundation Trust , London , UK
7. Computer Science, UCL , London , UK
8. Yeovil District Hospital, Somerset Foundation NHS Trust , Yeovil, Somerset , UK