1. The BioRobotics Institute, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
2. Department of Excellence in Robotics and AI, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
3. Medica SpA, 40131 Bologna, Italy
4. Gastrointestinal Unit, Department of Translational Sciences and New Technologies in Medicine and Surgery, University of Pisa, 56124 Pisa, Italy