1School of Engineering and Materials Science, Queen Mary University of London, London E1 4NS, UK
2Department of Medical Physics and Biomedical Engineering, University College London, Gower Street, London, WC1E 6BT, UK
3Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, Charles Bell House, 67-73 Riding House Street, London W1W 7EJ, UK