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MGL receives grant funding from Phillips and Ethicon, Inc. PFL receives consultant fees from Ethicon, Inc; The author receives consultant fees and is a stockholder in Elucent Medical; The author is a stockholder in Histosonics, Inc, McGinley Orthopedic Innovations; The author receives grant funding from Siemens Medical. JLH- The author receives consultant fees from Ethicon, Inc. The author is a stockholder in Histosonics, Inc, Elucent Medical, LiteRay, Accure, and Cellectar. FTL Jr receives consultant fees from Ethicon, Inc. The author is a stockholder, is on board of directors, and receives research support from Histosonics, Inc. The author has patents with and receives royalties from Medtronic, Inc. The author is a stockholder and board observer in Elucent Medical. The author is a stockholder in Eximis Surgical. The author is a stockholder in Healthmyne, Inc. The author is a stockholder in ImageMover, Inc. The author is a stockholder in Zurex, Inc. 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