1. Faculty of Engineering Technology, University of Twente, Enschede, The Netherlands
2. Robotics and Vision Department in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, King's College London, London, U.K.
3. Department of Computer Science and the EndoCAS Center for Computer-Assisted Surgery, University of Pisa, Pisa, Italy
4. BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy