1. Department of Urology, University of Minnesota, MMC 394, Minneapolis, MN, 55455, USA
2. Department of Surgery, University of Washington, Seattle, WA, 98195, USA
3. Vcom3D, Orlando, FL, 32817, USA
4. Entropic Engineering, MN, 55114, USA
5. U.S. Army Combat Capabilities Development Command - Soldier Center, Medical Simulation Research Branch, Orlando, FL, 32826-3276, USA