[1] Univ British Columbia, Dept Urol Sci, Vancouver Gen Hosp, Stone Ctr, Vancouver, BC, Canada
[2] Univ British Columbia, Dept Elect & Comp Engn, Vancouver, BC, Canada
[3] Tech Univ Dresden, Univ Hosp Carl Gustav Carus, Dept Urol, Dresden, Germany
[4] Ruhr Univ Bochum, Marien Hosp Herne, Dept Urol, Herne, Germany
[5] Univ British Columbia, Dept Biomed Engn, Vancouver, BC, Canada
[6] Ctr Hosp Univ Montreal, Div Urol, Fac Med, Montreal, PQ, Canada
[7] Vancouver Gen Hosp, Dept Urol Sci, Stone Ctr, Level 6, 2775 Laurel St, Vancouver, BC V5Z 1M9, Canada