1. Department of Computer Science, University of North Carolina Wilmington, Wilmington, NC 28403, USA.
2. Department of Mechanical Engineering, Johns Hopkins University; Baltimore, MD 21211, USA.
3. Laboratory for Computational Sensing and Robotics, Johns Hopkins University; Baltimore, MD 21211, USA.
4. Department of Electrical and Computer Engineering, Johns Hopkins University; Baltimore, MD 21211, USA.
5. Department of Urology, Children’s National Hospital, 111 Michigan Ave. N.W., Washington, DC 20010, USA