National Technical University of Athens (NTUA) - School of Mechanical Engineering, National Technical University of Athens (NTUA) - School of Mechanical Engineering, National Technical University of Athens (NTUA) - School of Mechanical Engineering, Massachusetts Institute of Technology (MIT) - Department of Biological Engineering, National Technical University of Athens (NTUA) - School of Mechanical Engineering, National Technical University of Athens (NTUA) - School of Electrical and Computer Engineering, University of Athens - Department of Surgery, University of Athens - Department of Surgery, National Technical University of Athens (NTUA) - School of Electrical and Computer Engineering, University of Athens - Department of Surgery and National Technical University of Athens - Biomedical Systems Laboratory