1. College of Engineering, University of Illinois Chicago,Robotics Lab,Department of Electrical and Computer Engineering,Chicago,IL,USA,60607
2. College of Medicine, University of Illinois Chicago,Surgical Innovation and Training Lab,Department of Surgery,Chicago,IL,USA,60607
3. School of Medicine and Surgery, University of Modena and Reggio Emilia,Modena,Italy
4. University of Milan,Department of Medicine and Surgery,Milano,Italy
5. Lugano Regional Hospital, Ente Ospedaliero Cantonale (EOC),Department of Surgery,Lugano,Switzerland