Given a binary search tree, write a function kthSmallest to find the kth smallest element in it.

Note:
You may assume k is always valid, 1 ≤ k ≤ BST's total elements.

Follow up:
What if the BST is modified (insert/delete operations) often and you need to find the kth smallest frequently? How would you optimize the kthSmallest routine?

Credits:
Special thanks to @ts for adding this problem and creating all test cases.