1. From the Minimally Invasive Surgery Center, Cleveland Clinic Foundation, Cleveland, Ohio, Division of Urology, Clinical Science Center, University of Wisconsin, Madison, Wisconsin, Section of Urology, University of Michigan, Ann Arbor, Michigan, Department of Diagnostic Radiology, Yale University School of Medicine, New Haven, Connecticut, and Division of Urologic Surgery and Department of Radiology, Washington University School of Medicine, St. Louis, Missouri