[1] Univ Dundee, Sch Med, Inst Med Sci & Technol, Dundee DD2 1FD, Scotland
[2] Capsutech Ltd, Nazareth, Israel
[3] InSightec Ltd, Haifa, Israel
[4] Univ Glasgow, Sch Engn, Glasgow, Lanark, Scotland
[5] Technion Israel Inst Technol, Dept Biomed Engn, Haifa, Israel