1. Orthopaedic Robotics Laboratory, University of Pittsburgh, Pittsburgh, PA 15219;
2. Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, 408 Center for Bioengineering, 300 Technology Drive, Pittsburgh, PA 15219; Department of Orthopaedic Surgery, University of Pittsburgh, Pittsburgh, PA 15219
3. Orthopaedic Robotics Laboratory, University of Pittsburgh, Pittsburgh, PA 15219; Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, 408 Center for Bioengineering, 300 Technology Drive, Pittsburgh, PA 15219;
4. Department of Orthopaedic Surgery, University of Pittsburgh, Pittsburgh, PA 15219
5. Orthopaedic Robotics Laboratory, University of Pittsburgh, Pittsburgh, PA 15219; Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, 408 Center for Bioengineering, 300 Technology Drive, Pittsburgh, PA 15219; Department of Orthopaedic Surgery, University of Pittsburgh, Pittsburgh, PA 15219
6. Department of Bioengineering, Swanson School of Engineering, University of Pittsburgh, 408 Center for Bioengineering, 300 Technology Drive, Pittsburgh, PA 15219; Department of Orthopaedic Surgery, University of Pittsburgh, Pittsburgh, PA 15219 e-mail: