{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:CBVZJLRB7G6UOAOVKWSDK4XCAI","short_pith_number":"pith:CBVZJLRB","canonical_record":{"source":{"id":"1804.03141","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-09T15:01:52Z","cross_cats_sorted":[],"title_canon_sha256":"26fc51dec3810df411231ae0d0986ee3e24f197fc323b9d541986663172b1159","abstract_canon_sha256":"9e9316f69c0876c42a722e3c389d2ffd3a8e33dd4b21a6fa41c5ebfc7b1e7659"},"schema_version":"1.0"},"canonical_sha256":"106b94ae21f9bd4701d555a43572e20211d07ac4be6e470dc75e06e83bc66d57","source":{"kind":"arxiv","id":"1804.03141","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.03141","created_at":"2026-05-18T00:18:56Z"},{"alias_kind":"arxiv_version","alias_value":"1804.03141v1","created_at":"2026-05-18T00:18:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.03141","created_at":"2026-05-18T00:18:56Z"},{"alias_kind":"pith_short_12","alias_value":"CBVZJLRB7G6U","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"CBVZJLRB7G6UOAOV","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"CBVZJLRB","created_at":"2026-05-18T12:32:16Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:CBVZJLRB7G6UOAOVKWSDK4XCAI","target":"record","payload":{"canonical_record":{"source":{"id":"1804.03141","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-09T15:01:52Z","cross_cats_sorted":[],"title_canon_sha256":"26fc51dec3810df411231ae0d0986ee3e24f197fc323b9d541986663172b1159","abstract_canon_sha256":"9e9316f69c0876c42a722e3c389d2ffd3a8e33dd4b21a6fa41c5ebfc7b1e7659"},"schema_version":"1.0"},"canonical_sha256":"106b94ae21f9bd4701d555a43572e20211d07ac4be6e470dc75e06e83bc66d57","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:18:56.796069Z","signature_b64":"oWQ7bFqPvM4OGJVqJ2DhcWwVUzIdV7OWC0NjSRu9pItWFdcxclYeF/q103E0cozKCHeylZ5Q2ZpelFYwnCZMAg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"106b94ae21f9bd4701d555a43572e20211d07ac4be6e470dc75e06e83bc66d57","last_reissued_at":"2026-05-18T00:18:56.795664Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:18:56.795664Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1804.03141","source_version":1,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:18:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JtaczFcG4N7RM7N4KAnsJlvLE/6UKYhgnPBewAzatAxakjZ661m9LyvfJRD4IkK6jqlCBFExi8bWmtA9rso+DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T00:33:48.866676Z"},"content_sha256":"f08da128e26e76ab8ed385421771cca23232c680ee74bd419461cdfd27da5220","schema_version":"1.0","event_id":"sha256:f08da128e26e76ab8ed385421771cca23232c680ee74bd419461cdfd27da5220"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:CBVZJLRB7G6UOAOVKWSDK4XCAI","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Automated pick-up of suturing needles for robotic surgical assistance","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Claudia D'Ettorre, Danail Stoyanov, Elena De Momi, Francisco Vasconcelos, Francois Chadebecq, George Dwyer, Xiaofei Du","submitted_at":"2018-04-09T15:01:52Z","abstract_excerpt":"Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer. After removal the bladder neck is successively sutured directly with the urethra. The procedure is called urethrovesical anastomosis and is one of the most dexterity demanding tasks during RALP. Two suturing instruments and a pair of needles are used in combination to perform a running stitch during urethrovesical anastomosis. While robotic instruments provide enhanced dexterity to perform the anastomosis, it is still highly c"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.03141","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-05-18T00:18:56Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3WG7lvqjMy02qBzjIwwFBrFqCgK2DIy/EQvx/Eb80Lxbn169+77DvaHiKjv4xk05d6YuiL/L+6ZngN+tk2ucAA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-27T00:33:48.867028Z"},"content_sha256":"bdf4f098eca3c2802a85cc0bb8024ce7abfec67382568b695de2995c07a0cbfa","schema_version":"1.0","event_id":"sha256:bdf4f098eca3c2802a85cc0bb8024ce7abfec67382568b695de2995c07a0cbfa"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/CBVZJLRB7G6UOAOVKWSDK4XCAI/bundle.json","state_url":"https://pith.science/pith/CBVZJLRB7G6UOAOVKWSDK4XCAI/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/CBVZJLRB7G6UOAOVKWSDK4XCAI/bundle.json","status":"primary"}],"public_keys":[{"key_id":"pith-v1-2026-05","algorithm":"ed25519","format":"raw","public_key_b64":"stVStoiQhXFxp4s2pdzPNoqVNBMojDU/fJ2db5S3CbM=","public_key_hex":"b2d552b68890857171a78b36a5dccf368a953413288c353f7c9d9d6f94b709b3","fingerprint_sha256_b32_first128bits":"RVFV5Z2OI2J3ZUO7ERDEBCYNKS","fingerprint_sha256_hex":"8d4b5ee74e4693bcd1df2446408b0d54","rotates_at":null,"url":"https://pith.science/pith-signing-key.json","notes":"Pith uses this Ed25519 key to sign canonical record SHA-256 digests. Verify with: ed25519_verify(public_key, message=canonical_sha256_bytes, signature=base64decode(signature_b64))."}],"merge_version":"pith-open-graph-merge-v1","built_at":"2026-05-27T00:33:48Z","links":{"resolver":"https://pith.science/pith/CBVZJLRB7G6UOAOVKWSDK4XCAI","bundle":"https://pith.science/pith/CBVZJLRB7G6UOAOVKWSDK4XCAI/bundle.json","state":"https://pith.science/pith/CBVZJLRB7G6UOAOVKWSDK4XCAI/state.json","well_known_bundle":"https://pith.science/.well-known/pith/CBVZJLRB7G6UOAOVKWSDK4XCAI/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:CBVZJLRB7G6UOAOVKWSDK4XCAI","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":"9e9316f69c0876c42a722e3c389d2ffd3a8e33dd4b21a6fa41c5ebfc7b1e7659","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-09T15:01:52Z","title_canon_sha256":"26fc51dec3810df411231ae0d0986ee3e24f197fc323b9d541986663172b1159"},"schema_version":"1.0","source":{"id":"1804.03141","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1804.03141","created_at":"2026-05-18T00:18:56Z"},{"alias_kind":"arxiv_version","alias_value":"1804.03141v1","created_at":"2026-05-18T00:18:56Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1804.03141","created_at":"2026-05-18T00:18:56Z"},{"alias_kind":"pith_short_12","alias_value":"CBVZJLRB7G6U","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_16","alias_value":"CBVZJLRB7G6UOAOV","created_at":"2026-05-18T12:32:16Z"},{"alias_kind":"pith_short_8","alias_value":"CBVZJLRB","created_at":"2026-05-18T12:32:16Z"}],"graph_snapshots":[{"event_id":"sha256:bdf4f098eca3c2802a85cc0bb8024ce7abfec67382568b695de2995c07a0cbfa","target":"graph","created_at":"2026-05-18T00:18:56Z","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"},"paper":{"abstract_excerpt":"Robot-assisted laparoscopic prostatectomy (RALP) is a treatment for prostate cancer that involves complete or nerve sparing removal prostate tissue that contains cancer. After removal the bladder neck is successively sutured directly with the urethra. The procedure is called urethrovesical anastomosis and is one of the most dexterity demanding tasks during RALP. Two suturing instruments and a pair of needles are used in combination to perform a running stitch during urethrovesical anastomosis. While robotic instruments provide enhanced dexterity to perform the anastomosis, it is still highly c","authors_text":"Claudia D'Ettorre, Danail Stoyanov, Elena De Momi, Francisco Vasconcelos, Francois Chadebecq, George Dwyer, Xiaofei Du","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-09T15:01:52Z","title":"Automated pick-up of suturing needles for robotic surgical assistance"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1804.03141","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:f08da128e26e76ab8ed385421771cca23232c680ee74bd419461cdfd27da5220","target":"record","created_at":"2026-05-18T00:18:56Z","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":"9e9316f69c0876c42a722e3c389d2ffd3a8e33dd4b21a6fa41c5ebfc7b1e7659","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2018-04-09T15:01:52Z","title_canon_sha256":"26fc51dec3810df411231ae0d0986ee3e24f197fc323b9d541986663172b1159"},"schema_version":"1.0","source":{"id":"1804.03141","kind":"arxiv","version":1}},"canonical_sha256":"106b94ae21f9bd4701d555a43572e20211d07ac4be6e470dc75e06e83bc66d57","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"106b94ae21f9bd4701d555a43572e20211d07ac4be6e470dc75e06e83bc66d57","first_computed_at":"2026-05-18T00:18:56.795664Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:18:56.795664Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"oWQ7bFqPvM4OGJVqJ2DhcWwVUzIdV7OWC0NjSRu9pItWFdcxclYeF/q103E0cozKCHeylZ5Q2ZpelFYwnCZMAg==","signature_status":"signed_v1","signed_at":"2026-05-18T00:18:56.796069Z","signed_message":"canonical_sha256_bytes"},"source_id":"1804.03141","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:f08da128e26e76ab8ed385421771cca23232c680ee74bd419461cdfd27da5220","sha256:bdf4f098eca3c2802a85cc0bb8024ce7abfec67382568b695de2995c07a0cbfa"],"state_sha256":"8f8af852e609697bd2342850d6f86efcd0a544570a8fa6f465a9b6c456bf60f9"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"bEhvl/PiG95aGhltxgoiKujPnHgs6HOl+AET8Z8JlHHPe2TiwB/AWO3agD5BsbLARzsJ+w2/zVNXdOiGuk4nDw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-27T00:33:48.869528Z","bundle_sha256":"d85fd88c49f64c9fb92114ce9b1caec98d02dd015ad292343c36c7c69a165b35"}}