1. Department of Biomedical Engineering, University of Minnesota, 420 Delaware Street SE, B172 Mayo Building, MMC 195, Minneapolis, MN 55455 e-mail:
2. Medical Devices Center, University of Minnesota, 420 Delaware Street SE, G217 Mayo Building, MMC 95, Minneapolis, MN 55455 e-mail:
3. Rudie Consulting LLC, 18466 Gladstone Boulevard, Maple Grove, MN 55311 e-mail:
4. Department of Interventional Radiology, MD Anderson Cancer Center, FCT 14.6012 Unit 1471, 1400 Pressler Street, Houston, TX 77030 e-mail:
5. Mem. ASME Department of Surgery, University of Minnesota, 420 Delaware Street SE, B172 Mayo, MMC 195, Minneapolis, MN 55455 e-mail: