1 Department of General and Visceral Surgery, Klinikum rechts der Isar Munich, Technical University of Munich, Munich, Germany. hubertus.feussner@tum.de.
2 Department of General and Visceral Surgery, Klinikum rechts der Isar Munich, Technical University of Munich, Munich, Germany.
3 Chair for Computer Aided Medical Procedures and Augmented Reality, Institute of Informatic I16, Technische Universität München, Boltzmannstr. 3, 85748, Garching bei München, Germany.
4 Chair of Robotics and Embedded Systems, Institute of Informatic VI, Technische Universität München, Boltzmannstraße 3, 85748, Garching bei München, Germany.
5 Chair of Micro Technology and Medical Device Technology, TUM Department of Mechanical Engineering, Technische Universität München, Boltzmannstraße 3, 85748, Garching bei München, Germany.