School of Computing Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada.|School of Computing Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada.|School of Computing Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada.|Department of Computer Science, Indiana University, Bloomington, IN 47405, USA.|School of Computing Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada.|School of Computing Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada.|Department of Surgery, Indiana University, School of Medicine, Indianapolis, IN 46202, USA.|School of Computing Science, Simon Fraser University, Burnaby, BC V5A 1S6, Canada.|Vancouver Prostate Centre, Vancouver, BC V6H 3Z6, Canada.|Department of Surgery, Indiana University, School of Medicine, Indianapolis, IN 46202, USA.|Department of Computer Science, Indiana University, Bloomington, IN 47405, USA.|Vancouver Prostate Centre, Vancouver, BC V6H 3Z6, Canada.