1. Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland
2. Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland 2Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, Massachusetts
3. Inselspital, Universitätsspital Bern, Bern, Switzerland 4Hannover Medical School (MHH), Hannover, Germany