1. Surgical Robotics Laboratory, Department of Biomedical Engineering, University Medical Center Groningen, University of Groningen 9713 AV, Groningen, Netherlands
2. Department of Physics, The German University in Cairo 11835, New Cairo, Egypt
3. Department of Cognitive Robotics, Delft University of Technology 2628 CD, Delft, Netherlands
4. Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente 7522 NB, Enschede, Netherlands
5. Department of Systems Design Engineering, University of Waterloo N2L 3G1, Waterloo, Ontario, Canada
6. Institute for Bioengineering of Catalonia (IBEC), Barcelona Institute of Science and Technology (BIST), Baldiri-Reixac 10-12, 08028 Barcelona, Spain