[1] Univ Hosp Strasbourg, Nouvel Hop Civil, Dept Intervent Radiol, 1 Pl Hop,BP 426, F-67091 Strasbourg, France
[2] Univ Hosp Rennes, Clin Invest Ctr, INSERM 1414, Rennes, France
[3] Univ Rennes, Rennes, France
[4] Univ Strasbourg, Div Robot, ICube, Strasbourg, France
[5] Univ Strasbourg, Dept Intervent Radiol, ICube, Strasbourg, France
[6] Nouvel Hop Civil, Strasbourg, France
[7] Queen Elizabeth Hosp, Dept Radiol & Imaging, Hong Kong, Peoples R China