[1] Univ Oxford, Dept Engn Sci, Med Vis Lab Robot, Oxford OX1 3PJ, England
[2] UCL, Royal Free & Univ Coll Med Sch, Dept Surg, London NW3 2QG, England
[3] John Radcliffe Hosp, Magnet Resonance Imaging Ctr, Oxford OX3 9DU, England
[4] Churchill Hosp, Breast Care Unit, Oxford OX3 7LJ, England
[5] Churchill Hosp, Dept Surg, Oxford OX3 7LJ, England