1. Automation and Interventional Medicine Laboratory, Worcester Polytechnic Institute, Worcester, MA 01609, USA
2. Acoustic MedSystems Inc., Savoy, IL, USA
3. Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, USA
4. Surgical Navigation and Robotics Laboratory, Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, MA, USA