1. Department of Surgery, University Hospital Schleswig-Holstein, Campus Luebeck, Ratzeburger Allee 160, 23538 Luebeck, Germany
2. Institute for Robotics and Cognitive Systems, University of Luebeck, Ratzeburger Allee 160, 23538 Luebeck, Germany
3. Graduate School for Computing in Medicine and Life Sciences, University of Luebeck, Ratzeburger Allee 160, 23538 Luebeck, Germany