Affiliation: | Current affiliations: Division of Digestive and Liver Diseases, Department of Internal Medicine (S.-J.T., S.F.J.), Department of Surgery (C.O.O., D.J.S.), and Department of Urology (J.C.), University of Texas Southwestern Medical Center, Dallas, Texas, USA, Texas Manufacturing Assistance Center, Automation and Robotics Research Institute, University of Texas (R.B., R.F.), Arlington, Texas, USA |