1. Catherine & Joseph Aresty Department of Urology, Center for Robotic Simulation and Education, USC Institute of Urology, University of Southern California, Los Angeles, California, USA.
2. Department of Computing and Mathematical Sciences, California Institute of Technology, Pasadena, California, USA.
3. Radiology Department, University of Southern California, Los Angeles, California, USA.
4. Computational Biomedicine, Cedars-Sinai Medical Center, Los Angeles, California, USA.