1. Systems and Materials for Mechatronics (SYMME) Laboratory, University Savoie Mont Blanc, Annecy, France.
2. Department of Informatics, Haptics Mechatronics and Medical Robotics (HaMMeR) Laboratory, King's College London, London, United Kingdom.
3. UCL, Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), London, United Kingdom.
4. Department of Surgery and Cancer, Imperial College London, London, United Kingdom.