1 Carl Zeiss AG, Oberkochen, Germany. rebekka.peter@zeiss.com.
2 Laboratory for Surgical Planning and Robotic Cognition (SPARC), Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany. rebekka.peter@zeiss.com.
3 Carl Zeiss AG, Oberkochen, Germany.
4 Institute for Systems and Robotics, Instituto Superior Técnico, Universidade de Lisboa, Lisbon, Portugal.
5 Laboratory for Surgical Planning and Robotic Cognition (SPARC), Department of Artificial Intelligence in Biomedical Engineering, Friedrich-Alexander-Universität Erlangen-Nürnberg, Erlangen, Germany.