1. Multi-Scale Robotics Lab ETH Zürich Tannenstrasse 3 Zürich 8092 Switzerland
2. Institute of Pathology and Molecular Pathology University Hospital of Zurich Schmelzbergstrasse 12 Zürich 8092 Switzerland
3. Department of Obstetrics University Hospital of Zurich Rämistrasse 100 Zürich 8092 Switzerland
4. The Zurich Center for Fetal Diagnosis and Therapy University of Zurich Rämistrasse 71 Zürich 8092 Switzerland
5. Department of Pediatric Surgery University Children‘s Hospital Zurich Steinwiesstrasse 75 Zürich 8092 Switzerland