1. The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy
2. Department of Industrial Engineering, University of Florence, Firenze, Italy
3. Department of Surgery and Translational Medicine, University of Florence, Firenze, Italy
4. Center for Micro-BioRobotics, Istituto Italiano di Tecnologia, Pontedera, Italy
5. Department of Information Engineering, University of Florence, Firenze, Italy