[1] Harvard Univ, Beth Israel Deaconess Med Ctr, Sch Med, Lab Minimally Invas Tumor Therapy,Dept Radiol, Boston, MA 02215 USA
[2] Harvard Univ, Beth Israel Deaconess Med Ctr, Sch Med, Sect Intervent Radiol,Dept Radiol, Boston, MA 02215 USA
[3] Harvard Univ, Beth Israel Deaconess Med Ctr, Sch Med, Sect Abdominal Imaging,Dept Radiol, Boston, MA 02215 USA
[4] Univ Wisconsin, Dept Radiol, Madison, WI 53706 USA
[5] Univ Wisconsin, Dept Elect & Comp Engn, Madison, WI 53706 USA
[6] Hadassah Hebrew Univ, Med Ctr, Dept Radiol, Div Image Guided Therapy, Jerusalem, Israel