1. The BioRobotics Institute, Scuola Superiore Sant'Anna; 56025 Pontedera (PI) Italy
2. Department of Civil and Industrial Engineering; University of Pisa; 56122 Pisa Italy
3. Institute of Bioimaging and Molecular Physiology, National Research Council (CNR); 88100 Germaneto (CZ) Italy
4. Operative Unit of Otorhinolaryngology, Audiology and Phoniatrics; Azienda Ospedaliero-Universitaria Pisana (AOUP); 56124 Pisa Italy
5. Department of Surgical, Medical, Molecular Pathology and Emergency Medicine; University of Pisa; 56124 Pisa Italy
6. Department of Biomedical Engineering and Robotics Institute; Khalifa University of Science Technology and Research, P.O. Box 127788; Abu Dhabi United Arab Emirates
7. Department of Clinical Science, Intervention and Technology; Karolinska Institutet; 17177 Stockholm Sweden