Giorgio Bozzini1, Stefano Gidaro2, Gianluigi Taverna3. 1. Department of Urology, Humanitas Mater Domini, Castellanza VA, Italy. Electronic address: gioboz@yahoo.it. 2. ALF-X Surgical Robotics Department, SOFAR SpA, Milan, Italy. 3. Department of Urology, Humanitas Mater Domini, Castellanza VA, Italy.