1. The BioRobotics Institute, Scuola Superiore Sant’Anna, Pontedera, Italy
2. Ovesco Endoscopy AG, Tuebingen, Germany
3. Center of Research on Biomedical Engineering, Universitat Politècnica de Catalunya, Barcelona, Spain
4. Department of Information and Communication Technologies, Universitat Pompeu Fabra, Barcelona, Spain
5. Department of Surgical Sciences, University of Torino, Turin, Italy