[1] Worcester Polytech Inst, Dept Robot Engn, 100 Inst Rd, Worcester, MA 01609 USA
[2] Johns Hopkins Univ, Dept Med, Div Cardiol, Sch Med, Baltimore, MD USA
[3] Siemens Healthineers, Digital Technol & Innovat, Princeton, NJ USA
[4] Johns Hopkins Univ, Sch Med, Dept Radiol & Radiol Sci, Baltimore, MD USA
[5] Johns Hopkins Univ, Whiting Sch Engn, Lab Computat Sensing & Robot, Baltimore, MD USA
[6] Worcester Polytech Inst, Dept Biomed Engn, Worcester, MA USA
[7] Worcester Polytech Inst, Dept Comp Sci, Worcester, MA USA