1. Surgical Robotics Laboratory Department of Biomechanical Engineering University of Twente Drienerlolaan 5 Enschede 7500 AE The Netherlands
2. Surgical Robotics Laboratory Department of Biomedical Engineering University of Groningen and University Medical Centre Groningen, Hanzeplein 1 Groningen 9713 GZ The Netherlands
3. Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V. Bautzner, Landstraße 400 01328 Dresden Germany
4. The H. Niewodniczanski Institute of Nuclear Physics, Polish Academy of Sciences Krakow 31‐342 Poland