1. Center of Research on Biomedical Engineering, Universitat Politècnica de Catalunya, Spain
2. BioRobotics Institute, Italy
3. Department of Surgical Sciences, University of Torino, Italy
4. Unidad de Endoscopia, Servicio de Gastroenterología y Hepatología, Hospital de la Santa Creu i Sant Pau, Spain
5. BioRobotics Institute, Pisa, Italy