1. Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Ontario M5S 3G8, Canada;
2. Department of Mechanical and Industrial Engineering, Ryerson University, Toronto, Ontario M5B 2K3, Canada;
3. Elekta Oncology Systems, Crawley RH10 9BL, United Kingdom;
4. Department of Radiation Oncology, Sunnybrook Health Sciences Centre, University of Toronto, Ontario M4N 3M5, Canada