1. Trinity Biomedical Sciences Institute, Trinity College Dublin Trinity Centre for Biomedical Engineering, , Dublin 2 , Ireland
2. School of Engineering, Trinity College Dublin Department of Mechanical, Manufacturing and Biomedical Engineering, , Dublin 2 , Ireland
3. Royal College of Surgeons in Ireland and Trinity College Dublin Advanced Materials and BioEngineering Research Centre (AMBER), , Dublin 2 , Ireland
4. Delft University of Technology Department of Biomechanical Engineering, , Delft 2628CD, Th e Netherlands
5. Urology, Boston Scientific Corp, Inc , Minnetonka, MN , USA
6. Urology, Boston Scientific Corp, Inc, Clonmel Co, Tipperary , Ireland
7. Beaumont Hospital, Beaumont Department of Urology, , Dublin 9 , Ireland