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This research was funded in whole, or in part, by the Wellcome Trust [203145Z/16/Z].
For the purpose of Open Access, the author has applied a CC BY public copyright licence to any Author Accepted Manuscript version arising from this submission.
The registration data described in Sections \ref{sec:methods} and \ref{sec:results} can be downloaded from \href{https://doi.org/10.5281/zenodo.4434278}{https://doi.org/10.5281/zenodo.4434278}.
\section{Acknowledgements}
This work is supported by the Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) [203145Z/16/Z]. Our thanks to Simone Foti for designing the SciKit-Surgery logo, and to Dr Mary Thompson for proof reading the manuscript.