1. Department of Biomedical Engineering, University of Houston, E2003 SERC Building, 3605 Cullen Boulevard, Houston, TX 77204-5060 e-mail:
2. Department of Urology, Houston Methodist Hospital and Research Institute, 6565 Fannin Street, Suite 2100, Houston, TX 77030-2703 e-mail:
3. Department of Urology, University of Minnesota, 420 Delaware Street, SE MMC 394, Minneapolis, MN 55455-0341 e-mail:
4. Department of Biomedical Engineering, University of Houston, 2027 SERC Building, 3605 Cullen Boulevard, Houston, TX 77204-5060 e-mail: