Andrea Moglia1, Gregorio Di Franco2, Luca Morelli3,2. 1. EndoCAS, Center for Computer Assisted Surgery, University of Pisa, Edificio 102, via Paradisa 2, 56124, Pisa, Italy. andrea.moglia@endocas.org. 2. General Surgery Unit, Department of Surgery, Translational and New Technologies in Medicine, University of Pisa, Pisa, Italy. 3. EndoCAS, Center for Computer Assisted Surgery, University of Pisa, Edificio 102, via Paradisa 2, 56124, Pisa, Italy.