1. Department of Orthopedic Surgery, Faculty of Medicine, University of Tsukuba, 1-1-1 Tennodai, Tsukuba 305-8575, Japan
2. Department of Orthopedic Surgery, Ibaraki Prefectural University of Health Sciences, Ami 300-0394, Japan
3. Technology Research Institute, National Institute of Advanced Industrial Science and Technology, Tsukuba 305-8560, Japan