[1] Scuola Super Sant Anna, BioRobot Inst, I-56025 Pisa, Italy
[2] Univ Politecn Cataluna, Ctr Res Biomed Engn, Barcelona 08034, Spain
[3] Scuola Super Sant Anna, Dept Excellence Robot & AI, I-56127 Pisa, Italy
[4] Univ Parma, Univ Hosp Parma, Gastroenterol & Endoscopy Unit, I-43126 Parma, Italy
[5] Univ Foggia, Dept Med & Surg Sci, I-71121 Foggia, Italy
[6] Scuola Super Sant Anna, DIRPOLIS Inst, LIDER Lab, I-56025 Pisa, Italy
[7] Pomeranian Med Univ, Dept Gastroenterol, PL-71252 Szczecin, Poland
[8] Ctr Digest Dis Endoklin, PL-70535 Szczecin, Poland
[9] Pomeranian Med Univ, Dept Social Med & Publ Hlth, PL-71252 Szczecin, Poland