1. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37212 e-mail:
2. Medical Merge LLC, Brentwood, TN 37027 e-mail:
3. Senior Engineer, Medical Merge LLC, Brentwood, TN 37027 e-mail:
4. Gastroenterologist, Springfield, MO 65804 e-mail:
5. Gastroenterologist, Springfield, MO 65809 e-mail:
6. Hospital Medicine Consultant, Abu Dhabi, 112412, United Arab Emirates e-mail:
7. Chair in Robotics & Autonomous Systems, School of Electronic and Electrical Engineering, University of Leeds, Leeds, LS2 9JT, UK e-mail: