[1] Royal Prince Alfred Hosp, Dept Urol, Sydney, NSW 2050, Australia
[2] Royal Prince Alfred Hosp, Dept Mol Imaging, Sydney, NSW 2050, Australia
[3] Univ Sydney, Fac Engn & Comp Sci, Sydney, NSW 2006, Australia
[4] Univ Sydney, Fac Med, Sydney, NSW 2006, Australia
[5] Chris Obrien Lifehouse, Dept Urol, Sydney, NSW 2050, Australia
[6] RPA Inst Acad Surg, Sydney, NSW 2050, Australia