1. Department of Mechanical and Industrial Engineering, Montana State University, Bozeman, MT, USA
2. Department of Neurological Sciences, University of Nebraska Medical Center, Omaha, NE, USA
3. Department of Urology, Ann Arbor Veterans Affairs Healthcare System, Ann Arbor, MI, USA
4. Department of Urology, University of Michigan, Ann Arbor, MI, USA
5. Mayo Clinic, Robert D. and Patricia E. Kern Center for the Science of Health Care Delivery, Rochester, MN, USA