Abstract: An implantable stimulation system having a stimulation unit coupled to a programmable controller, a stimulation circuit and an array of electrodes disposed on a pair of flexible paddles is provided for selectively stimulating at least one pelvic (e.g., cavernous) nerve. The programmable controller is pre-programmed to run an excitation electrode routine that selectively scans the electrode arrays with a series of directional current flows to optimize electrode selection for use in stimulating a nerve. The implantable stimulation system may be programmed to run a first stimulation pulse sequence corresponding to a first mode for invoking a rapid erectile response, a second nerve rehabilitation stimulation mode for rehabilitating neural transmission in a cavernous nerve, a third penile rehabilitation mode for reducing penile fibrosis, and/or a fourth bladder nerve rehabilitation mode for rehabilitating neural transmission in nerves that control the lower urinary tract.