1. Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7500 AE Enschede, The Netherlands
2. Multidisciplinary and Multiscale Device and Design Lab, Department of Mechanical Engineering, Indian Institute of Science, Bengaluru 560012, Karnataka, India
3. Surgical Robotics Laboratory, Department of Biomechanical Engineering, University of Twente, 7500 AE Enschede, The Netherlands;
4. Surgical Robotics Laboratory, Department of Biomedical Engineering, University of Groningen, University Medical Centre Groningen, 9713 GZ Groningen, The Netherlands