[1] Hologic Inc, Skeletal Hlth, Bedford, MA 01730 USA
[2] Johns Hopkins Univ, Dept Comp Sci, Engn Res Ctr Comp Integrated Surg Syst & Technol, Baltimore, MD 21218 USA
[3] Univ Erlangen Nurnberg, Inst Med Phys, Erlangen, Germany
[4] Univ Western Australia, Sir Charles Gairdner Hosp, Sch Med & Pharmacol, Dept Endocrinol & Diabet, Perth, WA 6009, Australia