University College London, Centre for Medical Image Computing, Department of Medical Physics & Biomedical Engineering, London, United Kingdom.|University College London, Centre for Medical Image Computing, Department of Medical Physics & Biomedical Engineering, London, United Kingdom.|University College London, Department of Mechanical Engineering, London, United Kingdom.|University College London, Department of Surgery, London, United Kingdom.|University of Cyprus, Department of Mechanical & Manufacturing Engineering, Nicosia, Cyprus.|University College London, Centre for Medical Image Computing, Department of Medical Physics & Biomedical Engineering, London, United Kingdom.