[1] Univ Wisconsin, Dept Biomed Engn, Madison, WI USA
[2] Univ Wisconsin, Dept Radiol, Madison, WI USA
[3] Cleveland Clin, Lerner Coll Med, Cleveland Hts, OH USA
[4] Med Coll Wisconsin, Dept Radiol, Div Vasc & Intervent Radiol, Milwaukee, WI USA
[5] Univ Penn, Sch Vet Med, Philadelphia, PA USA
[6] Virginia Polytech Inst & State Univ, Dept Biomed Engn & Mech, Blacksburg, VA USA
[7] Univ Wisconsin, Dept Urol, Madison, WI USA
[8] Univ Wisconsin, Dept Radiol, 600 Highland Ave, Madison, WI 53792 USA