1. Division of Experimental Surgery, Department of Surgery Veterans General Hospital-Taipei, Taiwan, R.O.C.
2. Institute of Biomedical Engineering, National Yang-Ming University, No. 201 Section II, Shih-Pai road, Taipei 11217, Taiwan, R.O.C.
3. Department of Power Mechanical Engineering, National Tsing Hua University, Taiwan, R.O.C.
4. Division of Urology, Department of Surgery, Veterans General Hospital-Taipei, Taiwan, R.O.C.
5. University of Houston, Houston, TX