Institution: | a Department of Mechanical Engineering, University of Minnesota, Minneapolis, MN 55455, USA b Department of Biomedical Engineering, University of Minnesota, Minneapolis, MN 55455, USA c Department of Urologic Surgery, University of Minnesota, Minneapolis, MN 55455, USA d Department of Biomedical Engineering, Michigan Technological University, Houghton, MI 49931-1295, USA e Department of Biomedical Engineering, Worcester Polytechnic Institute, Worcester, MA 01609-2280, USA |