1. James Buchanan Brady Urological Institute, The Johns Hopkins Medical Institutions, Baltimore, Maryland
2. James Buchanan Brady Urological Institute, The Johns Hopkins Medical Institutions, Baltimore, Maryland and Department of Medical Engineering, Whiting School of Engineering, The Johns Hopkins University, Baltimore
3. Department of Medical Engineering, Whiting School of Engineering, The Johns Hopkins University, Baltimore
4. Department of Urology, The University of Texas Southwestern Medical Center, Dallas, Texas
5. James Buchanan Brady Urological Institute, The Johns Hopkins Medical Institutions, Baltimore, Maryland and Department of Radiology, Johns Hopkins Bayview Medical Center, Baltimore