1. The BioRobotics Institute, Scuola Superiore Sant’Anna, Pisa, Italy
2. Department of Surgical Sciences, University of Torino, Torino, Italy
3. Endoscopy Unit, The Royal Infirmary of Edinburgh, Edinburgh, Scotland, UK
4. Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, UK