1. Department of Medical System Engineering, Gwangju Institute of Science and Technology (GIST), Gwangju, South Korea.
2. School of Mechatronics, Gwangju Institute of Science and Technology (GIST), Gwangju, South Korea.
3. Department of Urology, Pusan National University Hospital, Busan, South Korea.
4. Department of Urology, Hanyang University Guri Hospital, Guri, South Korea.