1. Department of Electromechanical Engineering, Nagoya Institute of Technology, Nagoya, Aichi 466-8555, Japan
2. Faculty of Advanced Techno-Surgery, Institute of Advanced Biomedical Engineering and Science, Tokyo Women’s Medical University, Shinjuku-ku, Tokyo 162-8666, Japan
3. Department of Neurosurgery, Neurological Institute, Tokyo Women’s Medical University, Shinjuku-ku, Tokyo 162-8666, Japan