Department of Surgery, Perelman School of Medicine, Department of Computer and Information Science, School of Engineering and Applied Science, Penn Computer Assisted Surgery and Outcomes Laboratory, University of Pennsylvania Philadelphia, PA

[email protected].

Research is supported by the Thomas B. McCabe and Jeannette E. Laws McCabe Fellows Award, the Linda Pechenik Montague Award, the American Society for Gastrointestinal Endoscopy, and the Intuitive Foundation.

D.A.H. is a consultant for Activ Surgical.