[1] Pontificia Univ Catolica Chile, Fac Med, Simulat Ctr, Div Surg, Marcoleta 377, Santiago, Chile
[2] Univ Texas Southwestern Med Ctr Dallas, Dept Surg, Dallas, TX USA
[3] Univ Texas Southwestern Med Ctr Dallas, Dept Biomed Engn, Dallas, TX USA
[4] Univ Penn, Univ Penn Perelman Sch Med, Dept Surg, Philadelphia, PA USA
[5] Univ Penn, Dept Comp & Informat Sci, Sch Engn & Appl Sci, Philadelphia, PA USA