1. Department of Mechanical Engineering, James H. Clark Center, E3.1, 318 Campus Drive, Stanford University, Stanford, CA 94305,
2. INRIA Paris Rocquencourt, BP 105, 78153 Le Chesnay Cedex, France
3. Department of Bioengineering, James H. Clark Center, E382, 318 Campus Drive, Stanford University, Stanford, CA 94305,
4. Department of Bioengineering, Department of Surgery, James H. Clark Center, E350B, 318 Campus Drive, Stanford University, Stanford, CA 94305,