1. Department of Biomedical Engineering, Marquette University, Milwaukee, WI 53233; Department of Pediatrics, Children’s Hospital of Wisconsin, Milwaukee, WI 53226 e-mail:
2. Department of Bioengineering, Stanford University, Stanford, CA 94305
3. INRIA Paris-Rocquencourt BP 105, 78153 Le Chesnay Cedex, France
4. Aerospace Engineering Sciences, University of Colorado at Boulder, Boulder, CO 80309
5. Department of Biomedical Engineering, Marquette University, Milwaukee, WI 53233
6. Department of Radiology, Stanford University, Stanford, CA 94305
7. Department of Bioengineering, Department of Pediatrics, Stanford University, Stanford, CA 94305; Lucile Packard Children’s Hospital, Palo Alto, CA 94304
8. Department of Bioengineering, Department of Radiology, Stanford University, Stanford, CA 94305