[1] Chiba University, Department of Medical Engineering, Chiba,263-8522, Japan
[2] National University of Singapore, Department of Surgery, 119077, Singapore
[3] Singapore University of Technology and Design, Engineering Product Development Department, 487372, Singapore
[4] National Institute of Advanced Industrial Science and Technology, Digital Architecture Research Center, Tokyo,135-0064, Japan
[5] Chiba University, Center for Frontier Medical Engineering, The Department of Medical Engineering, Chiba,263-8522, Japan