[1] Scuola Super Sant Anna, BioRobot Inst, I-56127 Pisa, Italy
[2] Scuola Super Sant Anna, Dept Excellence Robot & AI, I-56127 Pisa, Italy
[3] Scuola Super Sant Anna, DIRPOLIS Inst, EMbeDS Dept Excellence, I-56127 Pisa, Italy
[4] Image Guided Therapy IGT, F-33600 Pessac, France
[5] Hitech & Dev Wireless Sweden AB H&D Wireless, S-16451 Kista, Sweden
[6] IRCCS Ist Ortoped Rizzoli, Diagnost & Intervent Radiol, I-40136 Bologna, Italy
[7] IRCCS Ist Ortoped Rizzoli, Clin 2, Bologna, Italy