1. Department of Neurosurgery, Keck School of Medicine of the University of Southern California, Los Angeles
2. Department of Computer Science, Viterbi School of Engineering, University of Southern California, Los Angeles
3. Department of Operations Research and Information Engineering, Cornell University, Ithaca, New York
4. Department of Mathematics, University of Toronto, Toronto, Ontario, Canada
5. Center for Robotic Simulation and Education, USC Institute of Urology, Keck School of Medicine of the University of Southern California, Los Angeles
6. Department of Computer Science and Mathematics, California Institute of Technology, Pasadena
7. Department of Otolaryngology, Keck School of Medicine of the University of Southern California, Los Angeles
8. Division of Neurosurgery, Center for Neuroscience, Children’s National Hospital, Washington, DC