1. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran; The Robotic Surgery Lab., Mechanical Engineering Department, Concordia University, Montreal, QC, Canada
2. School of Mechanical Engineering, College of Engineering, University of Tehran, Tehran, Iran
3. Aerospace Engineering Department, Iowa State University, Ames, IA, USA
4. ICube Laboratory, CNRS and University of Strasbourg, Illkirch-Graffenstaden, France
5. Tehran University of Medical Sciences, Tehran, Iran