Best legal structure for startup in Switzerland

Hi! We are a small team of fluid dynamics engineers from Switzerland, UK and Austria. We have been working together in a research group at a well-known Swiss university and would like to found our own spin-off company with the technology we have developed. We would like to know how to take the first step of founding the company. We are all currently based in Zurich, so it would be good if Switzerland could be our place of incorporation. This is probably an easy question, but which type of company would be best for us and what is the process, meaning how do we register the company and the founders and how much will it cost? Do we need a lawyer to help us?