1. The BioRobotics Institute, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
2. Department of Information Engineering, Università di Pisa, 56127 Pisa, Italy
3. Department of Excellence in Robotics & A.I., Scuola Superiore Sant’Anna, 56127 Pisa, Italy
4. Interdisciplinary Research Center Health Science, Scuola Superiore Sant’Anna, 56127 Pisa, Italy
5. Department of Medical Biotechnologies, School of Oral Surgery, University of Siena, 53100 Siena, Italy
6. Maxillofacial Surgery Unit, Department of Medical Biotechnologies, University of Siena, 53100 Siena, Italy
7. Head and Neck Section, Department of Neurosciences, Reproductive and Odontostomatological Science, Federico II University of Naples, 80013 Naples, Italy
8. Department of Information Engineering and Mathematics, University of Siena, 53100 Siena, Italy