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1. Division of Artificial Systems of Science, Graduate School of Engineering, Chiba University, 2. Department of Urology, Teikyo University Chiba Medical Center, 3. Department of Urology, Yotsukaido Tokushukai Hospital, 4. Department of Urology, Dokkyo Medical University, 5. Department of Medical System Engineering, Graduate School of Engineering, Chiba University
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