1. Division of Next Generation Endoscopic Intervention (Project ENGINE), Global Center for Medical Engineering and Informatics, Osaka University, Osaka, Japan.
2. Department of Gastroenterological Surgery, Osaka University Graduate School of Medicine, Osaka, Japan.
3. Yamashina Seiki, Co., Ltd., Ritto, Japan.
4. Department of Surgery, Osaka Medical Center for Cancer and Cardiovascular Diseases, Osaka, Japan.