1. Institute for Robotics and Cognitive Systems, University of Lübeck, 23562 Lübeck, Germany
2. Department of Surgery, Campus Charité Mitte, Campus Virchow-Klinikum, Experimental Surgery, Charité–Universitätsmedizin Berlin, Corporate Member of Freie Universität Berlin, Humboldt-Universität zu Berlin, Berlin Institute of Health, 10117 Berlin, Germany
3. Department of Radiology and Nuclear Medicine, University Hospital Schleswig-Holstein Campus Lübeck, 23569 Lübeck, Germany
4. Institute of Interventional Radiology, University Hospital Schleswig-Holstein Campus Lübeck, 23569 Lübeck, Germany