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anatomy ureter urinary tract complications urinary system ureterscopy urology complication ureteral anatomy pelvic urinary bladder operative surgical complications normal development 1- pronephros 2- mesonephros 3- metanephros embryology puj arterial supply abdominal regions abdominal wall vuj penile prostheses erectile dysfunction penile deformity renal pelvis bladder stone eswl hypospadia spontaneous rupture case oncology renal cell carcinoma abdominal wall anatomy renal incision antenatal children obstruction upj snodgrass obstetrical surgeries risk factors gynecological surgeries glans approximation minimally invasive endscopy hydronephrosis reflux