1. Department of Mechanical Engineering; Vanderbilt University; Nashville TN 37240 USA
2. Vanderbilt Initiative in Surgical Engineering (ViSE); Nashville Tennessee USA
3. Department of Urologic Surgery, A-1302 Medical Center North; Vanderbilt University Medical Center; Nashville TN 37232-2765
4. School of Nursing; Vanderbilt University; Nashville TN USA
5. Department of Biostatistics, School of Medicine; Vanderbilt University; Nashville TN USA