1. Department of General, Visceral, and Transplantation Surgery, Hospital of the LMU Munich, Ludwig-Maximilians-Universität (LMU), Munich, Germany
2. Computer Aided Medical Procedures & Augmented Reality (CAMP), Technical University of Munich (TUM), Munich, Germany
3. Maxer Endoscopy GmbH, Wurmlingen, Germany
4. Department of Anesthesiology and Intensive Care Medicine, Hospital of the LMU Munich, Ludwig-Maximilians-Universität (LMU), Munich, Germany
5. Department of Radiology, Hospital of the LMU Munich, Ludwig-Maximilians-Universität (LMU), Munich, Germany
6. Laboratory for Computational Sensing and Robotics, Whiting School of Engineering, Johns Hopkins University, Baltimore, MD, USA