1. Department of Electronics, Information and Bioengineering, Politecnico di Milano, 20133 Milan, Italy
2. Hamlyn Centre for Robotic Surgery and the Department of Computing, Imperial College London, London, UK
3. College of Biosystems Engineering and Food Science, Zhejiang University, Hangzhou, China
4. Department of GMSC, Pprime Institute, CNRS-ENSMA-University of Poitiers, UPR 3346, Poitiers, France
5. Department of Computer Science and Engineering, Kyung Hee University, Yongin, Republic of Korea