1. Division of Medical System Engineering, Graduate School of Engineering, Chiba University, 1-33 Yayoi-Cho, Inage Ward, Chiba, 263-8522, Japan
2. Department of Urology, Teikyo University, Chiba Medical Center, 3426-3 Anesaki, Ichihara City, Chiba, 299-0111, Japan
3. Department of Urology, Dokkyo Medical University, 880 Kitakobayashi, Mibu-machi, Shimotsuga-gun, Tochigi, Japan
4. Center for Frontier Medical Engineering, Chiba University, 1-33 Yayoi-cho, Inage ward, Chiba, 263-8522, Japan