1. Russel H. Morgan Department of Radiology and Radiological Science, Johns Hopkins University School of Medicine, Baltimore, Maryland, USA

2. Department of Mechanical and Materials Engineering, Queen’s University, Kingston, Ontario, Canada

3. School of Computing, Queen’s University, Kingston, Ontario, Canada

4. Siemens Corporate Research, Center for Applied Medical Imaging, Baltimore, Maryland, USA

5. Department of Mechanical Engineering and Laboratory for Computational Sensing and Robotics, Johns Hopkins University School of Medicine, Baltimore, Maryland, USA