1. Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente , Drienerlolaan 5, 7522 NB Enschede, The Netherlands
2. Department of Surgery, Division of Vascular Surgery, University Medical Centre Groningen , Hanzeplein 1, 9713 GZ Groningen, The Netherlands
3. Surgical Robotics Laboratory, Department of Biomaterials and Biomedical Technology, University of Groningen and University Medical Centre Groningen , Antonius Deusinglaan 1, Building 3215, 9713 AV Groningen, The Netherlands