[1] Univ Pittsburgh, Dept Orthopaed Surg, Pittsburgh, PA 15203 USA
[2] Univ Pittsburgh, Dept Bioengn, Pittsburgh, PA 15203 USA
[3] Univ Pittsburgh, Orthopaed Robot Lab, Pittsburgh, PA 15203 USA
[4] McMaster Univ, Med Ctr, Div Orthopaed Surg, Hamilton, ON, Canada
[5] Univ Hosp Canoas, Dept Orthopaed Surg, Canoas, RS, Brazil