1. Mærsk Mc-Kinney Møller Instituttet, University of Southern Denmark, Odense, Denmark
2. Institute of Signals, Sensors and Systems (ISSS), School of Engineering and Physical Sciences (EPS), Heriot-Watt University, Edinburgh, U.K.
3. Department of Computer Science, Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, London, U.K.
4. Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genoa, Italy