1. Wellcome EPSRC Centre for Interventional and Surgical Sciences (WEISS), London, UK
2. Division of Surgery and Interventional Sciences, University College London, London, UK
3. Department of Medical Physics and Biomedical Engineering, University College London, London, UK
4. Department of Computer Science, University College London, London, UK
5. University College London Hospital, University College London Hospitals NHS Trust, London, UK
6. IRCAD, Research Institute Against Digestive Cancer, Strasbourg, France
7. ICube Lab, Photonics for Health, University of Strasbourg, France