{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2023:4J5FYENFNSYV7LZP3FJ2AMH4JN","merge_version":"pith-open-graph-merge-v1","event_count":2,"valid_event_count":2,"invalid_event_count":0,"equivocation_count":0,"current":{"canonical_record":{"metadata":{"abstract_canon_sha256":"e982e77299286a83c1b42e51860cf040c2083d4ea9975142703b669d5b9d996b","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-13T15:27:46Z","title_canon_sha256":"63450e4792f19ba5c868c5c585214fa06f81fe94ac422c706be42d66c2e54180"},"schema_version":"1.0","source":{"id":"2305.09470","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2305.09470","created_at":"2026-07-05T06:10:48Z"},{"alias_kind":"arxiv_version","alias_value":"2305.09470v1","created_at":"2026-07-05T06:10:48Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2305.09470","created_at":"2026-07-05T06:10:48Z"},{"alias_kind":"pith_short_12","alias_value":"4J5FYENFNSYV","created_at":"2026-07-05T06:10:48Z"},{"alias_kind":"pith_short_16","alias_value":"4J5FYENFNSYV7LZP","created_at":"2026-07-05T06:10:48Z"},{"alias_kind":"pith_short_8","alias_value":"4J5FYENF","created_at":"2026-07-05T06:10:48Z"}],"graph_snapshots":[{"event_id":"sha256:7469f8035fcc3a4c06144367088a2bdef868d9f0cbae9906899b77bc58725bd9","target":"graph","created_at":"2026-07-05T06:10:48Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"graph_snapshot":{"author_claims":{"count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","strong_count":0},"builder_version":"pith-number-builder-2026-05-17-v1","claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2305.09470/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Agile maneuvers are essential for robot-enabled complex tasks such as surgical procedures. Prior explorations on surgery autonomy are limited to feasibility study of completing a single task without systematically addressing generic manipulation safety across different tasks. We present an integrated planning and control framework for 6-DoF robotic instruments for pipeline automation of surgical tasks.We leverage the geometry of a robotic instrument and propose the nodal state space (NSS) to represent the robot state in SE(3) space. Each elementary robot motion could be encoded by regulation o","authors_text":"Fangxun Zhong, Yun-hui Liu","cross_cats":["cs.SY","eess.SY"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-13T15:27:46Z","title":"Integrated Planning and Control of Robotic Surgical Instruments for Tasks Autonomy"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2305.09470","kind":"arxiv","version":1},"verdict":{"created_at":null,"id":null,"model_set":{},"one_line_summary":"","pipeline_version":null,"pith_extraction_headline":"","strongest_claim":"","weakest_assumption":""}},"verdict_id":null}}],"author_attestations":[],"timestamp_anchors":[],"storage_attestations":[],"citation_signatures":[],"replication_records":[],"corrections":[],"mirror_hints":[],"record_created":{"event_id":"sha256:7c0504425a0e36af46049bfc6dd860954770c27d00c8d746c5132e914df7ca94","target":"record","created_at":"2026-07-05T06:10:48Z","signer":{"key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signer_id":"pith.science","signer_type":"pith_registry"},"payload":{"attestation_state":"computed","canonical_record":{"metadata":{"abstract_canon_sha256":"e982e77299286a83c1b42e51860cf040c2083d4ea9975142703b669d5b9d996b","cross_cats_sorted":["cs.SY","eess.SY"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2023-05-13T15:27:46Z","title_canon_sha256":"63450e4792f19ba5c868c5c585214fa06f81fe94ac422c706be42d66c2e54180"},"schema_version":"1.0","source":{"id":"2305.09470","kind":"arxiv","version":1}},"canonical_sha256":"e27a5c11a56cb15faf2fd953a030fc4b6f171762717fe01ff23b57d2ff199f16","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"e27a5c11a56cb15faf2fd953a030fc4b6f171762717fe01ff23b57d2ff199f16","first_computed_at":"2026-07-05T06:10:48.253084Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T06:10:48.253084Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7aboQsZ1Eqc4+sR8Aos+KTIBgpzmod+HNJsxfENdBbMS1kM6pYoJ5FlWmO25Ws3g2xPPu5r2D2/hUOJMQkRGDQ==","signature_status":"signed_v1","signed_at":"2026-07-05T06:10:48.253475Z","signed_message":"canonical_sha256_bytes"},"source_id":"2305.09470","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:7c0504425a0e36af46049bfc6dd860954770c27d00c8d746c5132e914df7ca94","sha256:7469f8035fcc3a4c06144367088a2bdef868d9f0cbae9906899b77bc58725bd9"],"state_sha256":"3450643a8bd5e74e59ede4c56ab9ee5f6f77b04df6a3efbf3b2f30ff95a147b6"}