1. Institute of Fluid Science, Tohoku University, Japan
2. Graduate School of Biomedical Engineering, Tohoku University, Japan
3. Department of Neurosurgery, Graduate School of Medicine, Tohoku University, Japan
4. Department of Bioengineering and Robotics, Graduate School of Engineering, Tohoku University, Japan
5. Instrumentation and Control Research Group, Faculty of Industrial Technology, Institut Teknologi Bandung, Indonesia
6. WPI-MANA, National Institute for Materials Science, Japan