{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:DBLJXIWENLQAPSRP3YKGCVT47W","short_pith_number":"pith:DBLJXIWE","canonical_record":{"source":{"id":"2507.01779","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-02T15:07:46Z","cross_cats_sorted":[],"title_canon_sha256":"621ba70b544c62fc1bbdd6f262221790b73007aa64e51bba5a7ba8022e720c0c","abstract_canon_sha256":"8a87c916f8683de726114f0f85b475bb8dd31b1d628973eefe190165d94d6666"},"schema_version":"1.0"},"canonical_sha256":"18569ba2c46ae007ca2fde1461567cfdaa30e2ef652c2e31f55bd0b50a0f453f","source":{"kind":"arxiv","id":"2507.01779","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.01779","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"arxiv_version","alias_value":"2507.01779v1","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.01779","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"pith_short_12","alias_value":"DBLJXIWENLQA","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"pith_short_16","alias_value":"DBLJXIWENLQAPSRP","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"pith_short_8","alias_value":"DBLJXIWE","created_at":"2026-07-05T11:30:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:DBLJXIWENLQAPSRP3YKGCVT47W","target":"record","payload":{"canonical_record":{"source":{"id":"2507.01779","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-02T15:07:46Z","cross_cats_sorted":[],"title_canon_sha256":"621ba70b544c62fc1bbdd6f262221790b73007aa64e51bba5a7ba8022e720c0c","abstract_canon_sha256":"8a87c916f8683de726114f0f85b475bb8dd31b1d628973eefe190165d94d6666"},"schema_version":"1.0"},"canonical_sha256":"18569ba2c46ae007ca2fde1461567cfdaa30e2ef652c2e31f55bd0b50a0f453f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:30:54.974204Z","signature_b64":"Z8CYiWhRTKajuAZfE7JRVXdrYBWm6aL6sWLs5GZClV0IRP1AB7GW1F88oaDybQys7n18XqR/eJSIyYgZJWuDDw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"18569ba2c46ae007ca2fde1461567cfdaa30e2ef652c2e31f55bd0b50a0f453f","last_reissued_at":"2026-07-05T11:30:54.973780Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:30:54.973780Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2507.01779","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":"2026-07-05T11:30:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"+rACUKE57XbTCETR+RkK5IoKURHLjI4H8gcbA44pvmWeoqzMLb4hoCUBpBM4CEyUK+NVmmJ+6pm3/TMtF7BQAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T09:20:20.819511Z"},"content_sha256":"4231b1f45265068b165e8dda67b81486066107797a376793fed63dd0e93f64a4","schema_version":"1.0","event_id":"sha256:4231b1f45265068b165e8dda67b81486066107797a376793fed63dd0e93f64a4"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:DBLJXIWENLQAPSRP3YKGCVT47W","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniyal Maroufi, Farshid Alambeigi, Jordan P. Amadio, Mohsen Khadem, Omid Rezayof, Susheela Sharma, Vaibhav Goggela, Xinyuan Huang, Yash Kulkarni","submitted_at":"2025-07-02T15:07:46Z","abstract_excerpt":"In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with vertebral access in spinal fixation (SF) procedures. To achieve this, we first enhanced our previously designed concentric tube Steerable Drilling Robot (CT-SDR) to facilitate steerable drilling across all vertebral levels of the spinal column. Additionally, we propose a four-Phase calibration, registration, and navigation procedure to perform realistic SF p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.01779","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":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2507.01779/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"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":"2026-07-05T11:30:54Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"nq6kOBiUphl0aLnbJvqi2V5G5cgOlm0f648pbzsS8aGsLVo7Y4TFuCOANWzbUj4SG1fhAFvlm55GDcZ9q4RjAQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-07T09:20:20.820560Z"},"content_sha256":"981bf5de9f4505e46f9ec4e4c58c53dd1adb78756740867712b0fa76eb4581e2","schema_version":"1.0","event_id":"sha256:981bf5de9f4505e46f9ec4e4c58c53dd1adb78756740867712b0fa76eb4581e2"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/DBLJXIWENLQAPSRP3YKGCVT47W/bundle.json","state_url":"https://pith.science/pith/DBLJXIWENLQAPSRP3YKGCVT47W/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/DBLJXIWENLQAPSRP3YKGCVT47W/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":"2026-08-07T09:20:20Z","links":{"resolver":"https://pith.science/pith/DBLJXIWENLQAPSRP3YKGCVT47W","bundle":"https://pith.science/pith/DBLJXIWENLQAPSRP3YKGCVT47W/bundle.json","state":"https://pith.science/pith/DBLJXIWENLQAPSRP3YKGCVT47W/state.json","well_known_bundle":"https://pith.science/.well-known/pith/DBLJXIWENLQAPSRP3YKGCVT47W/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:DBLJXIWENLQAPSRP3YKGCVT47W","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":"8a87c916f8683de726114f0f85b475bb8dd31b1d628973eefe190165d94d6666","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-02T15:07:46Z","title_canon_sha256":"621ba70b544c62fc1bbdd6f262221790b73007aa64e51bba5a7ba8022e720c0c"},"schema_version":"1.0","source":{"id":"2507.01779","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2507.01779","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"arxiv_version","alias_value":"2507.01779v1","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2507.01779","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"pith_short_12","alias_value":"DBLJXIWENLQA","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"pith_short_16","alias_value":"DBLJXIWENLQAPSRP","created_at":"2026-07-05T11:30:54Z"},{"alias_kind":"pith_short_8","alias_value":"DBLJXIWE","created_at":"2026-07-05T11:30:54Z"}],"graph_snapshots":[{"event_id":"sha256:981bf5de9f4505e46f9ec4e4c58c53dd1adb78756740867712b0fa76eb4581e2","target":"graph","created_at":"2026-07-05T11:30:54Z","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/2507.01779/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"In this paper, we introduce S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures. S3D is designed to enable realistic steerable drilling while accounting for the anatomical constraints associated with vertebral access in spinal fixation (SF) procedures. To achieve this, we first enhanced our previously designed concentric tube Steerable Drilling Robot (CT-SDR) to facilitate steerable drilling across all vertebral levels of the spinal column. Additionally, we propose a four-Phase calibration, registration, and navigation procedure to perform realistic SF p","authors_text":"Daniyal Maroufi, Farshid Alambeigi, Jordan P. Amadio, Mohsen Khadem, Omid Rezayof, Susheela Sharma, Vaibhav Goggela, Xinyuan Huang, Yash Kulkarni","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-02T15:07:46Z","title":"S3D: A Spatial Steerable Surgical Drilling Framework for Robotic Spinal Fixation Procedures"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2507.01779","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":"sha256:4231b1f45265068b165e8dda67b81486066107797a376793fed63dd0e93f64a4","target":"record","created_at":"2026-07-05T11:30:54Z","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":"8a87c916f8683de726114f0f85b475bb8dd31b1d628973eefe190165d94d6666","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-nd/4.0/","primary_cat":"cs.RO","submitted_at":"2025-07-02T15:07:46Z","title_canon_sha256":"621ba70b544c62fc1bbdd6f262221790b73007aa64e51bba5a7ba8022e720c0c"},"schema_version":"1.0","source":{"id":"2507.01779","kind":"arxiv","version":1}},"canonical_sha256":"18569ba2c46ae007ca2fde1461567cfdaa30e2ef652c2e31f55bd0b50a0f453f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"18569ba2c46ae007ca2fde1461567cfdaa30e2ef652c2e31f55bd0b50a0f453f","first_computed_at":"2026-07-05T11:30:54.973780Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:30:54.973780Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"Z8CYiWhRTKajuAZfE7JRVXdrYBWm6aL6sWLs5GZClV0IRP1AB7GW1F88oaDybQys7n18XqR/eJSIyYgZJWuDDw==","signature_status":"signed_v1","signed_at":"2026-07-05T11:30:54.974204Z","signed_message":"canonical_sha256_bytes"},"source_id":"2507.01779","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:4231b1f45265068b165e8dda67b81486066107797a376793fed63dd0e93f64a4","sha256:981bf5de9f4505e46f9ec4e4c58c53dd1adb78756740867712b0fa76eb4581e2"],"state_sha256":"cc9088ad0cebbacc6d9ceb0326ce112e3505b78fb94b3ce433bad50b2773a481"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"PKSNIPqeb+aV1KLOH4xdiwt7H2ahuKdxBiHaOdtxMo822gu6EgQyIIKeHJZPkQx5JZNIdO6DcWgr3SRh8iP9AQ==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-07T09:20:20.827993Z","bundle_sha256":"c96851e4f0ed2da2f41e16180e3b9eb425cdeff53fa1a3a4eebb657915bdcb1c"}}