1. Department of Computer Science, University of Verona, Verona, Italy
2. Department of Industrial Engineering and Operations Research and the Department of Electrical Engineering and Computer Science, University of California at Berkeley, Berkeley, CA, USA
3. Department of Mechanical and Automation Engineering, T Stone Robotics Institute, The Chinese University of Hong Kong, Hong Kong, China
4. Department of Computer Science, the Department of Mechanical Engineering, the Department of Radiology, the Department of Surgery, and the Department of Otolaryngology, Head-and-Neck Surgery, Johns Hopkins University, Baltimore, MD, USA