1. Division of Urology, Centre Hospitalier de l'Université de Montréal, Montréal, Canada
2. Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, Canada
3. Department of Urology, Marien Hospital Herne, Ruhr-University of Bochum, Herne, Germany
4. The Stone Centre at Vancouver General Hospital, Department of Urologic Sciences, University of British Columbia, Vancouver, Canada
5. Department of Urology, University Hospital Carl Gustav Carus, Technische Universität Dresden, Dresden, Germany
6. School of Biomedical Engineering, University of British Columbia, Vancouver, Canada