1. Healthcare Robotics and Telesurgery (HeaRT) Laboratory, Department of Mechanical Engineering, University of Louisville, Louisville, KY, USA
2. Matician Inc, Mountain View, CA, USA
3. Medical Robotics and Automation Laboratory, Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA, USA
4. Harvard-MIT Health Sciences and Technology, Cambridge, MA, USA