1. Joint Bioengineering and Endourology Developmental Surgical Laboratory, Division of Endourology, Laparoscopy, and Minimally-Invasive Surgery, Department of Urology, University of Miami Miller School of Medicine, Miami, FL, USA;
2. Department of Biomedical Engineering, University of Miami, Coral Gables, FL, USA;
3. Division of Urology, Department of Surgery, Schmidt College of Medicine, Florida Atlantic University, Boca Raton, FL, USA;
4. Department of Vascular and Interventional Radiology, University of Miami Miller School of Medicine, Miami, FL, USA