1. Department of Industrial Engineering, University of Florence, Firenze, Italy;
2. Department of Surgery and Translational Medicine, University of Florence, Firenze, Italy;
3. The BioRobotics Institute, Scuola, Italy;
4. Department of Information Engineering, University of Florence, Firenze, Italy;
5. Department of Oncology and Robotic Surgery, University of Florence, Firenze, Italy