1. Department of Cardiovascular Surgery, Boston Children’s Hospital, Harvard Medical School, Boston, MA 02115, USA.
2. Institute of Robotics and Intelligent Systems, Department of Mechanical and Process Engineering, ETH-Zürich, Zürich, Switzerland.
3. Department of Mechanical Engineering, Vanderbilt University, Nashville, TN 37235, USA.
4. Department of Electrical and Computer Engineering, University of Washington, Seattle, WA 98195, USA.
5. Biorobotics Institute, Scuola Superiore Sant’anna, Pisa, Italy.
6. Department of Mechanical Engineering, Rice University, Houston, TX 77005, USA.
7. Department of Electronic and Electrical Engineering, University of Leeds, Leeds, UK.
8. Medical Robotics Institute, Shanghai Jiao Tong University, Shanghai, China.