1. The Netherlands Cancer Institute, Department of Surgery, Plesmanlaan 121, Amsterdam 1066CX, The Netherlands
2. Minimally Invasive Healthcare, Philips Research, High Tech Campus 34, Eindhoven 5656 AE, The Netherlands
3. The Netherlands Cancer Institute, Department of Radiology, Plesmanlaan 121, Amsterdam 1066CX, The Netherlands
4. The Netherlands Cancer Institute, Department of Surgery, Plesmanlaan 121, Amsterdam 1066CX, The NetherlandsdUniversity of Twente, MIRA Institute, Building Zuidhorst P.O. Box 217, Enschede 7500 AE, The Netherlands