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1. Department of General- and Visceral Surgery Universityhospital Freiburg, 2. Institute of Microsystems Technology (IMTEK) Microsystems Design, Albert-Ludwigs-University of Freiburg, Germany., 3. Department of Urology, University Hospital, Albert-Ludwigs- University of Freiburg, Germany, 4. German Aerospace Center, Institute of Robotics and Mechatronics, Oberpfaffenhofen-Wessling, Germany
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