1. Medical Simulation Center Jichi Medical Univerisity Shimotsuke Japan
2. Department of Surgery Jichi Medical University Shimotsuke Japan
3. Department of Biodesign Institute of Biomaterials and Bioengineering, Tokyo Medical and Dental University Tokyo Japan
4. Division of Design Science Graduate School of Engineering, Chiba University Chiba Japan
5. Department of Surgery Toho University Medical Center Sakura Hospital Sakura Japan