[1] Univ Erlangen Nurnberg, Inst Med Phys, D-91052 Erlangen, Germany
[2] Synarc Hamburg, Hamburg, Germany
[3] Amgen Inc, Thousand Oaks, CA 91320 USA
[4] Synarc, San Francisco, CA USA
[5] Univ Bern, Inst Surg Technol & Biomech, Bern, Switzerland
[6] UCSF, San Francisco, CA USA