I hate to be a downer, but your odds probably aren't great. I'm sure your medical school provides a good education, but most PDs in the US will probably not have heard of your school or have any experience with its graduates. Your step1 score is average to slightly below average for urology, and unless your father is a famous researcher who PDs have heard of that connection won't help you too much. Having a single publication certainly helps, but isn't enough to make you stand out, as many US grads will have the same or more.
There's nothing wrong with your application, but the bar for US graduates to match into urology is already high. The bar for foreign graduates is much higher.