Ambulatory Closed-loop Stimulation for Bladder Control

This study has three study visits: a consenting visit (\~1 hour), a screening visit (\~4 hours), and an ambulatory visit (\~8 hours). Visit 1: The participant will have the study explained to their satisfaction and sign the consent form, if the participant chooses to participate. A urine sample is collected to test for urinary tract infections and a prophylactic antibiotic is prescribed. Note: The participant is asked to refrain from taking medications related to bladder relaxation (Ditropan, Oxybutynin, Detrol, Tolterodine Tartate, Tofranil, Imipramine, Urimax, Xanodine, Enablex, Darifenain) as these will interfere with the study. When to stop these medications will be discussed with the participant at this visit. Visit 2: The participant will have a urodynamic screening visit to confirm NDO activity, determine the response to stimulation, and determine the most effective stimulation parameters for genital nerve stimulation. * Urodynamics involves a catheter being inserted into the bladder to collect pressure readings from the bladder, and urethral sphincter, as well as infuse saline (salt water) into the bladder. This will be done up to 6 times, with and without stimulation, over the course of the 4 hour screening visit. * During urodynamics a catheter is also inserted into the rectum. This sensor detects abdominal pressure during urodynamics and is used to determine the pressure in the bladder. Note: There is an optional procedure that can be done in this visit called anorectal manometry (ARM). The rectal catheter that is inserted during urodynamics can also be used to investigate bowel function. If interested, the participant would be asked to perform several actions (cough, push as is if to defecate, or squeeze as if to withhold a bowel movement) and the response of the anal sphincter and rectum are measured. Visit 3: If the participant has confirmed NDO, the participant will be invited to a longer visit (\~8 hours) wherein the participant will test the full closed-loop stimulation system. The person will be asked to stay at the hospital for this visit but are encouraged to move about the building. This could involve going to the cafeteria or other public spaces. To accomplish closed-loop control of bladder function it will be necessary to: * Insert a sensor into the bladder (UroMonitor) through the urethra. This sensor has been designed to stay inside the bladder and measure pressure without requiring a catheter to remain in the urethra. Once the study is completed the sensor will be retrieved via a suture that remains in the urethra. * Confirm that the sensor is accurately detecting bladder pressure by comparing sensor values with urodynamics values. This will be done by using a urodynamics catheter and sensor at the same time for a short time. * Having genital nerve stimulation electrodes affixed to the appropriate areas of the genitals. For men, these electrodes are put on the top of the penis. For women, these electrodes are placed on the labia majora near the clitoris. A ground electrode will be put on the inner thigh for both men and women. These electrodes will be connected to a transcutaneous electrical nerve stimulation (TENS) unit calibrated to deliver the appropriate current parameters for that participant (determined in visit 2). * Donning the closed-loop system. The closed-loop system detects the sensor data, uses an algorithm to determine if stimulation should be applied, and then turns on the stimulation unit. Once the participant is instrumented, the participant will be able to move about the building without restriction. This could include going to the cafeteria and moving through the hallways, rather than being sedentary in a procedure room. A study member will accompany the participant as the participant ambulates throughout the building and uses a computer tablet to view the bladder data. Depending on how long it takes for the bladder to naturally fill, it may be possible to collect data from two fill-void cycles (\~3 hours each). After data collection, the participant will be taken back to the procedure room and the instrumentation will be removed. That includes removal of the bladder sensor by the urologist on the study. Participants will be asked for feedback which will include: what the participant experiences during the study, the design of the system, function of the system, any bladder related sensations, if the participant feels that the system would benefit quality of life, and if the participant would be likely to use the system.