1. Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands.
2. Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, and University Medical Centre Groningen, The Netherlands.
3. KIST Europe Forschugsgesellschaft mbH, Saarbrücken, Germany.
4. MESA+ Research Institute, University of Twente, Enschede, The Netherlands.