1. Center for Engineering in Medicine and Surgical Services, Massachusetts General Hospital, Shriners Hospitals for Children and Harvard Medical School, Boston, MA, USA
2. Department of Surgery, Keio University School of Medicine, Tokyo, Japan
3. Department of Surgery, Okayama University Graduate School of Medicine and Dentistry, Okayama, Japan
4. Department of Biomedical Engineering, Rutgers University, Piscataway, NJ, USA