1. Department of Biomedical Engineering, Yale University, New Haven, CT, USA
2. Department of Radiology and Biomedical Imaging, Yale University, New Haven, CT, USA
3. Department of Biomedical Engineering, Department of Radiology and Biomedical Imaging, Department of Urology, Yale University, New Haven, CT, USA
4. Siemens Medical Solutions USA, Inc., Knoxville, TN, USA
5. Department of Biomedical Engineering and the Department of Radiology and Biomedical Imaging, Yale University, New Haven, CT, USA