作者单位:Department of Bioengineering and Robotics, Tohoku University, Sendai, Japan[1]Department of Radiology, Tohoku University, Sendai, Japan[2]Department of Biomedical Engineering, Tohoku University, Sendai, Japan, Department of Applied[3]Department of Biomedical Engineering, Tohoku University, Sendai, Japan[4]Department of Applied Mathematics, Paris VI University, France[5]