1. Canadian Surgical Technologies & Advanced Robotics (CSTAR), Lawson Health Research Institute, The University of Western Ontario, London, Ontario, Canada.
2. Department of Electrical and Computer Engineering, The University of Western Ontario, London, Ontario, Canada.
3. Department of Surgery, The University of Western Ontario, London, Ontario, Canada.
4. Department of Medical Imaging, The University of Western Ontario, London, Ontario, Canada.
5. Division of Cardiac Surgery, Department of Surgery, The University of Western Ontario, London, Ontario, Canada.