1. Departments of Urology and Biomedical Engineering, University of California, Irvine, Orange, California, USA.
2. Urological Diseases Research Center, Boston Children's Hospital, Boston, Massachusetts, USA.
3. Department of Surgery, Harvard Medical School, Boston, Massachusetts, USA.
4. Division of Urology, Veterans Affairs Boston Healthcare System, Boston, Massachusetts, USA.
5. Department of Surgery, Brigham and Women's Hospital, Boston, Massachusetts, USA.