The authors would like to thank Robert Schaeffer, Andy Chen, Tony Kennestrasi, Virgil Mancion, David Choi, Anthony Hernandez and Ed Chernoff of Medtronic for their support and expertise in this field. Also, Tim Canan, Neil Boroumand, Jason Poulos, Dan Garcia, Dr. Alberto Breda, Dr. Hyunwoo Bang helped on this project. The United States Army Telemedicine and Advanced Technology Research Center (TATRC) provided financial support.