1. Department of Mechanical Engineering, Politecnico di Milano, 20156 Milan, Italy
2. Department of Gastrointestinal Surgery, San Raffaele Hospital IRCCS, 20127 Milan, Italy
3. Research Institute against Digestive Cancer (IRCAD), 67000 Strasbourg, France
4. Department of General Surgery, Ospedale Card. G. Panico, 73039 Tricase, Italy
5. Institut de Chirurgie Guidéè par L’image, University Hospital Institute (IHU), 67000 Strasbourg, France
6. Digestive and Endocrine Surgery, Nouvel Hopital Civil, University of Strasbourg, 67000 Strasbourg, France
7. ICube Laboratory, Photonics Instrumentation for Health, 67400 Strasbourg, France
8. Intuitive Surgical, 1170 Aubonne, Switzerland