1. Department of Neurosurgery, Keck School of Medicine of the University of Southern California, Los Angeles, California;
2. Center for Robotic Simulation and Education, USC Institute of Urology, Keck School of Medicine of the University of Southern California, Los Angeles, California;
3. Computing + Mathematical Sciences, California Institute of Technology, Pasadena, California; and
4. Division of Neurosurgery, Center for Neuroscience, Children’s National Medical Center, Washington, DC