[1] Univ Basel Hosp, Dept Biomed, CH-4031 Basel, Switzerland
[2] Univ Basel Hosp, Dept Surg, CH-4031 Basel, Switzerland
[3] Univ Basel Hosp, Clin Cardiac Surg, CH-4031 Basel, Switzerland
[4] Univ Basel, CH-4031 Basel, Switzerland
[5] Univ Hosp Bern, Inselspital, Dept Cardiovasc Surg, CH-3010 Bern, Switzerland
[6] Univ Bern, CH-3010 Bern, Switzerland
[7] Univ Fribourg, CH-1700 Fribourg, Switzerland
[8] Ist Italiano Tecnol, Robot Brain & Cognit Sci Dept, I-16163 Genoa, Italy