1. Innovation Center Computer Assisted Surgery (ICCAS), Faculty of Medicine, Leipzig University, Leipzig, Germany
2. Department of Visceral, Transplant, Thoracic, and Vascular Surgery, University Hospital of Leipzig AöR, Leipzig, Germany
3. Department of Electrical, Mechanical and Industrial Engineering, Anhalt University of Applied Science, Köthen (Anhalt), Germany
4. Department of General, Visceral and Oncological Surgery, St. Georg Hospital, Leipzig, Germany
5. Institute of Medical Science and Technology (IMSAT), University of Dundee, Dundee, UK