1. Department of Urology, Fukushima Medical University School of Medicine, Fukushima, Japan
2. Palo Alto Veterans Administration Medical Center, Palo Alto and Department of Urology, Stanford University School of Medicine, Stanford, California
3. School of Health Professions and Rehabilitation Sciences, Southampton University, Southampton, United Kingdom
4. Worldwide Research Center for Advanced Engineering and Technology, College of Engineering, Nihon University, Fukushima, Japan