1. Department of Urology, Ulm University, Ulm, Germany
2. Medical Faculty Mannheim – Heidelberg University, Mannheim, Germany
3. Department of Pathology, University Hospital Erlangen, Erlangen, Germany
4. Department of Urology, University Medical Center Mannheim, Mannheim, Germany
5. Fraunhofer IPA, Project Group for Automation in Medicine and Biotechnology, Mannheim, Germany