[1] Harvard Med Sch, Boston, MA 02115 USA
[2] Brigham & Womens Hosp, Div Gastroenterol Hepatol & Endoscopy, Boston, MA 02115 USA
[3] Fraunhofer Inst Digital Med, Bremen, Germany
[4] Brigham & Womens Hosp, Surg Planning Lab, Boston, MA 02115 USA
[5] Univ Bremen, Med Image Comp Grp, Bremen, Germany