The ureters have been identified for at least two thousand years, with the word "ureter" stemming from the stem relating to urinating and seen in written records since at least the time of Hippocrates. It is, however, only since the 1500s that the term "ureter" has been consistently used to refer to the modern structure, and only since the development of medical imaging in the 1900s that techniques such as X-ray, CT, and ultrasound have been able to view the ureters. The ureters are also seen from the inside using a flexible camera, called ureteroscopy, which was first described in 1964.