1. School of Engineering, RMIT University, Bundoora, VIC 3083, Australia
2. Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Clayton, VIC 3800, Australia
3. Department of Surgery, School of Clinical Sciences at Monash Health, Monash University, Clayton, VIC 3168, Australia
4. Department of Mechanical Engineering, University of Melbourne, Parkville, VIC 3010, Australia