[1] Univ Tsukuba, Fac Med, Dept Urol, Tsukuba, Japan
[2] Aichi Canc Ctr Hosp, Dept Urol, 1-1 Kanokoden,Chikusa Ku, Nagoya, Aichi 4648681, Japan
[3] Univ Tsukuba, Grad Sch Syst & Informat Engn, Dept Intelligent Funct Syst, Tsukuba, Japan
[4] Univ Tsukuba, Int Med Ctr, Affiliated Hosp, Tsukuba, Japan
[5] Int Univ Hlth & Welf, Narita Hosp, Fac Med, Dept Urol, Narita, Japan