1. Advanced Robotics and Mechanism Applications (A.R.M.A.) Laboratory, Department of Mechanical Engineering, Columbia University, New York, NY 10027, USA,
2. Department of Computer Science, ERC-CISST, Johns Hopkins University, Baltimore, MD 21218, USA,
3. Department of Otolaryngology, Head and Neck Surgery, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA,