1. Laboratory for Percutaneous Surgery, School of Computing, Queen’s University, Kingston, ON, Canada
2. Surgical Planning Laboratory, Department of Radiology, Brigham and Women’s Hospital, 75 Francis St, Boston, USA
3. Department of Radiology, Brigham and Women’s Hospital, 75 Francis St, Boston, USA
4. Isomics Inc., 55 Kirkland Street, Cambridge, MA, USA