1. Graduate School of Information Science and Technology, Hokkaido University,Sapporo,Japan
2. Hokkaido University,Faculty of Medicine,Department of Renal and Genitourinary surgery,Sapporo,Japan
3. Hokkaido University,Clinical simulation center, Faculty of Medicine,Sapporo,Japan
4. Kagawa University,Faculty of Engineering and Design,Takamatsu,Japan
5. National Defense Academy of Japan,Department of Mechanical Engineering,Yokosuka,Japan
6. Tohoku Gakuin University,Department of Mechanical Engineering and Intelligent Systems,Sendai,Japan
7. Graduate School of Science and Technology, Hirosaki University,Hi-rosaki,Japan