1. Department of Radiology, Careggi University Hospital, 50134 Florence, Italy
2. Department of Statistics, Informatics and Applications “G. Parenti” (DiSIA), University of Florence, 50134 Florence, Italy
3. Unit of Urological Minimally Invasive, Robotic Surgery and Kidney Transplantation, Careggi Hospital, University of Florence, 50134 Florence, Italy
4. Department of Experimental and Clinical Medicine, University of Florence, 50134 Florence, Italy
5. Unit of Oncologic Minimally-Invasive Urology and Andrology, Careggi Hospital, 50134 Florence, Italy