1. Departmental Faculty of Engineering, Unit of Measurements and Biomedical Instrumentation, Università Campus Bio-Medico di Roma, Rome, Italy
2. Unit of Anesthesia, Intensive Care and Pain Management, School of Medicine, Fondazione Policlinico Universitario Campus Bio-Medico, Rome, Italy
3. Department of Orthopedic Surgery, University Medical Center Groningen, Groningen, GZ, The Netherlands
4. Department of Biomechanical Engineering, Surgical Robotics Laboratory, University of Twente, Enschede, AE, The Netherlands