1. Department of Mechatronics and Precision Engineering, Tohoku University, Sendai City, Japan
2. The Department of the Second Surgery, School of Medicine, Tohoku University, Seiryo-cho, Sendai City, Japan
3. School of Science and Engineering, Teikyo University, Utsunomiya City, Japan
4. Sendai Rail-way Hospital, Itsutsubashi, Sendai City, Japan