1. Department of Surgery, The Netherlands Cancer Institute, Plesmanlaan 121, 1066 CX, Amsterdam, The Netherlands.
2. Minimally Invasive Healthcare, Philips Research, Eindhoven, The Netherlands
3. Department of Surgery, The Netherlands Cancer Institute, Plesmanlaan 121, 1066 CX, Amsterdam, The Netherlands
4. Technical University Twente, MIRA institute, Enschede, The Netherlands