1. Saga Koseikan Hospital, Saga, Japan
2. Graduate School of Medical Sciences, Kyushu University, Fukuoka, Japan
3. Kimitsu Central Hospital, Kisarazu, Japan
4. Yokohama City University School of Medicine, Yokohama, Japan
5. Department of Urology, Hamamatsu University School of Medicine, Hamamatsu, Japan
6. Section for Medical Robotics and Surgical Device Creation, Research Center for Frontier Medical Engineering, Chiba University, Chiba, Japan