1. Department of Computer Science, Altair Robotics Laboratory, University of Verona, Verona, Italy
2. IHU Strasbourg, University Hospital of Strasbourg, Strasbourg, France
3. ICube Laboratory, CNRS, IHU Strasbourg, University of Strasbourg, Strasbourg, France
4. Fondazione Policlinico Universitario Agostino Gemelli, Rome, IRCCS, Italy
5. IRCAD, Strasbourg, France