{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2012:GJ5SMZSYD554XNX5T4V4EFPY3N","short_pith_number":"pith:GJ5SMZSY","canonical_record":{"source":{"id":"1208.6379","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-08-31T06:23:09Z","cross_cats_sorted":["physics.med-ph"],"title_canon_sha256":"5a67b2a1654d91160240f940cf68ba3f29d7b1abaaff011709d77dedd0dc6d60","abstract_canon_sha256":"059b2e0a491ccaa5afa917353f32e1e6ba6a6c5da7fbcfc31fa5292018e8adfb"},"schema_version":"1.0"},"canonical_sha256":"327b2666581f7bcbb6fd9f2bc215f8db4c50edf3a76fa28687a19d99530cc4e0","source":{"kind":"arxiv","id":"1208.6379","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1208.6379","created_at":"2026-05-18T03:46:33Z"},{"alias_kind":"arxiv_version","alias_value":"1208.6379v1","created_at":"2026-05-18T03:46:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1208.6379","created_at":"2026-05-18T03:46:33Z"},{"alias_kind":"pith_short_12","alias_value":"GJ5SMZSYD554","created_at":"2026-05-18T12:27:06Z"},{"alias_kind":"pith_short_16","alias_value":"GJ5SMZSYD554XNX5","created_at":"2026-05-18T12:27:06Z"},{"alias_kind":"pith_short_8","alias_value":"GJ5SMZSY","created_at":"2026-05-18T12:27:06Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2012:GJ5SMZSYD554XNX5T4V4EFPY3N","target":"record","payload":{"canonical_record":{"source":{"id":"1208.6379","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-08-31T06:23:09Z","cross_cats_sorted":["physics.med-ph"],"title_canon_sha256":"5a67b2a1654d91160240f940cf68ba3f29d7b1abaaff011709d77dedd0dc6d60","abstract_canon_sha256":"059b2e0a491ccaa5afa917353f32e1e6ba6a6c5da7fbcfc31fa5292018e8adfb"},"schema_version":"1.0"},"canonical_sha256":"327b2666581f7bcbb6fd9f2bc215f8db4c50edf3a76fa28687a19d99530cc4e0","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T03:46:33.463299Z","signature_b64":"F4mVFi0A+Xi3NuriU63Hu6B/mz94tmfzRokTRBORqCrfRcHDDm2i8keYAlOO+LALSzRYHEYA945wG/zJEN6DDA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"327b2666581f7bcbb6fd9f2bc215f8db4c50edf3a76fa28687a19d99530cc4e0","last_reissued_at":"2026-05-18T03:46:33.461435Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T03:46:33.461435Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1208.6379","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":"2026-05-18T03:46:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"uMu33FBpTwRbVTdjljx5a8jsS5Qp8xYn1Hg/IAzLyeS6RMlp96pOuYkdKGZXTTwkPNqls0adNpQr6sn0fZapCA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T01:48:58.840494Z"},"content_sha256":"e01e85cfeb49c6d731ab0120c68c892a929b62182310ec89c1a18f64cfd4a6db","schema_version":"1.0","event_id":"sha256:e01e85cfeb49c6d731ab0120c68c892a929b62182310ec89c1a18f64cfd4a6db"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2012:GJ5SMZSYD554XNX5T4V4EFPY3N","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Development of a Novel Robot for Transperineal Needle Based Interventions: Focal Therapy, Brachytherapy and Prostate Biopsies","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["physics.med-ph"],"primary_cat":"cs.RO","authors_text":"Jean-Alexandre Long (TIMC), Jean-Jacques Rambeaud, Jean-Luc Descotes, Jean-Yves Giraud, Jocelyne Troccaz (TIMC), Michael Baumann (TIMC), Michel Bolla, Nikolai Hungr (TIMC)","submitted_at":"2012-08-31T06:23:09Z","abstract_excerpt":"Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion intraoperatively allows it to manage motions and guide needles to predefined targets. Materials and Methods: A robotic system was created for transrectal ultrasound guided needle implantation combined with intraoperative prostate tracking. Experiments were done on 90 targets embedded in a total of 9 mobile, deformable, synthetic prostate phantoms. Experiments involve"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1208.6379","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":"2026-05-18T03:46:33Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"J4WbDDhBm5BNic9+TPjXjo5u013EI/beGVd6486Fj/Np2QB928cqKwLQZ4x6/efGi5/XoVHzNbGQ1d/8urwhDg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-12T01:48:58.840848Z"},"content_sha256":"0fd08fb1502ffb83860c1caf56ce3734d419801077456fb1f6ca4bca421d4aff","schema_version":"1.0","event_id":"sha256:0fd08fb1502ffb83860c1caf56ce3734d419801077456fb1f6ca4bca421d4aff"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/GJ5SMZSYD554XNX5T4V4EFPY3N/bundle.json","state_url":"https://pith.science/pith/GJ5SMZSYD554XNX5T4V4EFPY3N/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/GJ5SMZSYD554XNX5T4V4EFPY3N/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":"2026-06-12T01:48:58Z","links":{"resolver":"https://pith.science/pith/GJ5SMZSYD554XNX5T4V4EFPY3N","bundle":"https://pith.science/pith/GJ5SMZSYD554XNX5T4V4EFPY3N/bundle.json","state":"https://pith.science/pith/GJ5SMZSYD554XNX5T4V4EFPY3N/state.json","well_known_bundle":"https://pith.science/.well-known/pith/GJ5SMZSYD554XNX5T4V4EFPY3N/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2012:GJ5SMZSYD554XNX5T4V4EFPY3N","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":"059b2e0a491ccaa5afa917353f32e1e6ba6a6c5da7fbcfc31fa5292018e8adfb","cross_cats_sorted":["physics.med-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-08-31T06:23:09Z","title_canon_sha256":"5a67b2a1654d91160240f940cf68ba3f29d7b1abaaff011709d77dedd0dc6d60"},"schema_version":"1.0","source":{"id":"1208.6379","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1208.6379","created_at":"2026-05-18T03:46:33Z"},{"alias_kind":"arxiv_version","alias_value":"1208.6379v1","created_at":"2026-05-18T03:46:33Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1208.6379","created_at":"2026-05-18T03:46:33Z"},{"alias_kind":"pith_short_12","alias_value":"GJ5SMZSYD554","created_at":"2026-05-18T12:27:06Z"},{"alias_kind":"pith_short_16","alias_value":"GJ5SMZSYD554XNX5","created_at":"2026-05-18T12:27:06Z"},{"alias_kind":"pith_short_8","alias_value":"GJ5SMZSY","created_at":"2026-05-18T12:27:06Z"}],"graph_snapshots":[{"event_id":"sha256:0fd08fb1502ffb83860c1caf56ce3734d419801077456fb1f6ca4bca421d4aff","target":"graph","created_at":"2026-05-18T03:46:33Z","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":"Purpose: We report what is to our knowledge the initial experience with a new 3-dimensional ultrasound robotic system for prostate brachytherapy assistance, focal therapy and prostate biopsies. Its ability to track prostate motion intraoperatively allows it to manage motions and guide needles to predefined targets. Materials and Methods: A robotic system was created for transrectal ultrasound guided needle implantation combined with intraoperative prostate tracking. Experiments were done on 90 targets embedded in a total of 9 mobile, deformable, synthetic prostate phantoms. Experiments involve","authors_text":"Jean-Alexandre Long (TIMC), Jean-Jacques Rambeaud, Jean-Luc Descotes, Jean-Yves Giraud, Jocelyne Troccaz (TIMC), Michael Baumann (TIMC), Michel Bolla, Nikolai Hungr (TIMC)","cross_cats":["physics.med-ph"],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-08-31T06:23:09Z","title":"Development of a Novel Robot for Transperineal Needle Based Interventions: Focal Therapy, Brachytherapy and Prostate Biopsies"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1208.6379","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:e01e85cfeb49c6d731ab0120c68c892a929b62182310ec89c1a18f64cfd4a6db","target":"record","created_at":"2026-05-18T03:46:33Z","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":"059b2e0a491ccaa5afa917353f32e1e6ba6a6c5da7fbcfc31fa5292018e8adfb","cross_cats_sorted":["physics.med-ph"],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2012-08-31T06:23:09Z","title_canon_sha256":"5a67b2a1654d91160240f940cf68ba3f29d7b1abaaff011709d77dedd0dc6d60"},"schema_version":"1.0","source":{"id":"1208.6379","kind":"arxiv","version":1}},"canonical_sha256":"327b2666581f7bcbb6fd9f2bc215f8db4c50edf3a76fa28687a19d99530cc4e0","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"327b2666581f7bcbb6fd9f2bc215f8db4c50edf3a76fa28687a19d99530cc4e0","first_computed_at":"2026-05-18T03:46:33.461435Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T03:46:33.461435Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"F4mVFi0A+Xi3NuriU63Hu6B/mz94tmfzRokTRBORqCrfRcHDDm2i8keYAlOO+LALSzRYHEYA945wG/zJEN6DDA==","signature_status":"signed_v1","signed_at":"2026-05-18T03:46:33.463299Z","signed_message":"canonical_sha256_bytes"},"source_id":"1208.6379","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e01e85cfeb49c6d731ab0120c68c892a929b62182310ec89c1a18f64cfd4a6db","sha256:0fd08fb1502ffb83860c1caf56ce3734d419801077456fb1f6ca4bca421d4aff"],"state_sha256":"8a3860f1c5b0637454fe599e5d10243ef57c5c0b3f81a0a40a78bf08177a4db0"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iqOm7Xa0/lKuPJqI09mTJNmh7go6iNsX8c+YBiCMvNC30mkBGoaNg3CwyEA9VWiourah1QOSwLP6cH09FJauDA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-12T01:48:58.842905Z","bundle_sha256":"a4251b4b47df55ec426fddfccf1bf27b79cc6ed4956c6e4e57dd24914ec00e3e"}}