1. Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, Enschede, The Netherlands
2. Radio Systems Group, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands
3. Surgical Robotics Laboratory, Department of Biomaterials and Biomedical Technology, University of Groningen and University Medical Centre Groningen, Groningen, The Netherlands