1. Department of Surgery, University Hospital rechts der Isar, Technical University of Munich, Munich, Germany
2. MITI Research Group, University Hospital rechts der Isar, Technical University of Munich, Munich, Germany
3. Munich Institute of Robotics and Machine Intelligence, Technical University of Munich, Munich, Germany
4. Franka Emika GmbH, Munich, Germany
5. Max Planck Institute for Intelligent Systems, Max Planck ETH Center for Learning Systems, Stuttgart, Germany