Pith Number

pith:EYXPZD5C

pith:2023:EYXPZD5C54SPS65JOA5UHJZIPR

not attested not anchored not stored refs pending

Collaborative Robotic Biopsy with Trajectory Guidance and Needle Tip Force Feedback

Alexander Schlaefer, Axel Heinemann, Benjamin Ondruschka, Carolin Stapper, Inga Kniep, Maximilian Neidhardt, Robin Mieling, Sarah Latus, Stefan Gerlach

arxiv:2306.07129 v2 · 2023-06-12 · cs.RO · cs.LG · cs.SY · eess.SY

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{EYXPZD5C54SPS65JOA5UHJZIPR}

Prints a linked badge after your title and injects PDF metadata. Compiles on arXiv. Learn more · Embed verified badge

Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Receipt and verification

First computed	2026-07-05T06:30:07.523684Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

262efc8fa2ef24f97ba9703b43a7287c6d3770ad4a2939f3ebc94d58499bd61e

Aliases

arxiv: 2306.07129 · arxiv_version: 2306.07129v2 · doi: 10.48550/arxiv.2306.07129 · pith_short_12: EYXPZD5C54SP · pith_short_16: EYXPZD5C54SPS65J · pith_short_8: EYXPZD5C

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/EYXPZD5C54SPS65JOA5UHJZIPR \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 262efc8fa2ef24f97ba9703b43a7287c6d3770ad4a2939f3ebc94d58499bd61e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "9949e733376f869efeb5e64a1e00faff67a79925553b737a55e88742905a2a9a",
    "cross_cats_sorted": [
      "cs.LG",
      "cs.SY",
      "eess.SY"
    ],
    "license": "http://creativecommons.org/licenses/by-nc-nd/4.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2023-06-12T14:07:53Z",
    "title_canon_sha256": "4da5c238a7eab9db2e44ed1b4aa52c1e4c82d9c20e631ddb63ebd4ad98a87c23"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2306.07129",
    "kind": "arxiv",
    "version": 2
  }
}