1. Department of Information EngineeringUniversity of Pisa Pisa Italy
2. EndoCAS Center, Department of Translational Research and of New Surgical and Medical TechnologiesUniversity of Pisa Pisa Italy
3. Institute of Applied Physics Nello CarraraNational Research Council Florence Italy
4. Vascular Surgery Unit, Department of Translational Research and of New Surgical and Medical TechnologiesCisanello University Hospital, University of Pisa Pisa Italy
5. Hepatobiliary Surgery and Liver TransplantationUniversity of Pisa Medical School Hospital Pisa Italy