1. Department of Biomedical Engineering, University of Akron, Akron, OH 44325 e-mail:
2. Department of Mechanical Engineering, University of Akron, Akron, OH 44325 e-mail:
3. Division of Urology, Southern Illinois University School of Medicine, Springfield, IL 62702 e-mail:
4. Associate Professor Department of Mechanical Engineering, University of Akron, Akron, OH 44325 e-mail:
5. Professor Department of Biomedical Engineering, University of Akron, Akron, OH 44325 e-mail: