1. Laboratory for Medical Robotics, Department of Otolaryngology, University Hospital of Tuebingen, Germany
2. Department of Radiology, University Hospital of Tuebingen, Germany
3. Fraunhofer-Institute for Manufacturing Engineering and Automation (IPA), Stuttgart, Germany
4. ICCAS / VCM, University of Leipzig, Germany
5. WSI/GRIS – VCM, University of Tuebingen, Germany