{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2018:H7YIJNMTRZ4QNLOIP3QYFJJZS2","short_pith_number":"pith:H7YIJNMT","canonical_record":{"source":{"id":"1807.03731","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T16:06:38Z","cross_cats_sorted":[],"title_canon_sha256":"cd12dd158caa891997b900c496eeff1757b76184d0d4a4e65d4eb2d619482be8","abstract_canon_sha256":"0bae3b796a605c600be52703671a6780e57b7c01bbcc0b140cf9ff9123cff975"},"schema_version":"1.0"},"canonical_sha256":"3ff084b5938e7906adc87ee182a539969a5f0617a2c87ed36b731dcaaba2f320","source":{"kind":"arxiv","id":"1807.03731","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.03731","created_at":"2026-05-18T00:11:01Z"},{"alias_kind":"arxiv_version","alias_value":"1807.03731v1","created_at":"2026-05-18T00:11:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.03731","created_at":"2026-05-18T00:11:01Z"},{"alias_kind":"pith_short_12","alias_value":"H7YIJNMTRZ4Q","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_16","alias_value":"H7YIJNMTRZ4QNLOI","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_8","alias_value":"H7YIJNMT","created_at":"2026-05-18T12:32:28Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2018:H7YIJNMTRZ4QNLOIP3QYFJJZS2","target":"record","payload":{"canonical_record":{"source":{"id":"1807.03731","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T16:06:38Z","cross_cats_sorted":[],"title_canon_sha256":"cd12dd158caa891997b900c496eeff1757b76184d0d4a4e65d4eb2d619482be8","abstract_canon_sha256":"0bae3b796a605c600be52703671a6780e57b7c01bbcc0b140cf9ff9123cff975"},"schema_version":"1.0"},"canonical_sha256":"3ff084b5938e7906adc87ee182a539969a5f0617a2c87ed36b731dcaaba2f320","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:11:01.125264Z","signature_b64":"XOI34B+Aw+eKcMq0WpL9o8PxG/Q1iUoLb6WL3lLA6N4xac3B5MruaDwi8oQZk5R59FfLf7oev4YCHubwYJlFBQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3ff084b5938e7906adc87ee182a539969a5f0617a2c87ed36b731dcaaba2f320","last_reissued_at":"2026-05-18T00:11:01.124542Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:11:01.124542Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1807.03731","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":"2026-05-18T00:11:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"TbJjDz8aej2qf0hJH05GyrvN78V19c5u/1XoBA3D7GpOdo4sLAec/fov2uL3v4kxYEQuXllcBVhhR/BDuyC/Dw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T08:32:56.544881Z"},"content_sha256":"6c9ddcf86dd04b680915bf027ab12782952df80f797cdb2ecf8213fd7db6353a","schema_version":"1.0","event_id":"sha256:6c9ddcf86dd04b680915bf027ab12782952df80f797cdb2ecf8213fd7db6353a"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2018:H7YIJNMTRZ4QNLOIP3QYFJJZS2","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Medical Technologies and Challenges of Robot Assisted Minimally Invasive Intervention and Diagnostics","license":"http://creativecommons.org/licenses/by-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Long Wang, Nabil Simaan, Rashid M. Yasin","submitted_at":"2018-07-10T16:06:38Z","abstract_excerpt":"Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history of medical robotics leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. Robotics for natural orifice and single port access surgery, capsule and magnetically actuated robotics and microrobotics are discussed with the aim of elucidating the state of the art. Works on modeling, sensing and control of mechanical architectures of robots for natural orifice and single port a"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.03731","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":"2026-05-18T00:11:01Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"U7CFMob/JRWoH4MvCBdCLA+TzszIaeDHHoWt/VheYKFPNTZJ37dixTCEyigHY5UAuC4FCOMXzat+jISH1gLtBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-04T08:32:56.545230Z"},"content_sha256":"66df90a595b1cc995a3dd18626db5afe72558f2f6e095eff4e3c4ce03f993a5c","schema_version":"1.0","event_id":"sha256:66df90a595b1cc995a3dd18626db5afe72558f2f6e095eff4e3c4ce03f993a5c"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/H7YIJNMTRZ4QNLOIP3QYFJJZS2/bundle.json","state_url":"https://pith.science/pith/H7YIJNMTRZ4QNLOIP3QYFJJZS2/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/H7YIJNMTRZ4QNLOIP3QYFJJZS2/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":"2026-06-04T08:32:56Z","links":{"resolver":"https://pith.science/pith/H7YIJNMTRZ4QNLOIP3QYFJJZS2","bundle":"https://pith.science/pith/H7YIJNMTRZ4QNLOIP3QYFJJZS2/bundle.json","state":"https://pith.science/pith/H7YIJNMTRZ4QNLOIP3QYFJJZS2/state.json","well_known_bundle":"https://pith.science/.well-known/pith/H7YIJNMTRZ4QNLOIP3QYFJJZS2/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2018:H7YIJNMTRZ4QNLOIP3QYFJJZS2","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":"0bae3b796a605c600be52703671a6780e57b7c01bbcc0b140cf9ff9123cff975","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T16:06:38Z","title_canon_sha256":"cd12dd158caa891997b900c496eeff1757b76184d0d4a4e65d4eb2d619482be8"},"schema_version":"1.0","source":{"id":"1807.03731","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1807.03731","created_at":"2026-05-18T00:11:01Z"},{"alias_kind":"arxiv_version","alias_value":"1807.03731v1","created_at":"2026-05-18T00:11:01Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1807.03731","created_at":"2026-05-18T00:11:01Z"},{"alias_kind":"pith_short_12","alias_value":"H7YIJNMTRZ4Q","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_16","alias_value":"H7YIJNMTRZ4QNLOI","created_at":"2026-05-18T12:32:28Z"},{"alias_kind":"pith_short_8","alias_value":"H7YIJNMT","created_at":"2026-05-18T12:32:28Z"}],"graph_snapshots":[{"event_id":"sha256:66df90a595b1cc995a3dd18626db5afe72558f2f6e095eff4e3c4ce03f993a5c","target":"graph","created_at":"2026-05-18T00:11:01Z","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":"Emerging paradigms furthering the reach of medical technology deeper into human anatomy present unique modeling, control and sensing problems. This paper discusses a brief history of medical robotics leading to the current trend of minimally invasive intervention and diagnostics in confined spaces. Robotics for natural orifice and single port access surgery, capsule and magnetically actuated robotics and microrobotics are discussed with the aim of elucidating the state of the art. Works on modeling, sensing and control of mechanical architectures of robots for natural orifice and single port a","authors_text":"Long Wang, Nabil Simaan, Rashid M. Yasin","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T16:06:38Z","title":"Medical Technologies and Challenges of Robot Assisted Minimally Invasive Intervention and Diagnostics"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1807.03731","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":"sha256:6c9ddcf86dd04b680915bf027ab12782952df80f797cdb2ecf8213fd7db6353a","target":"record","created_at":"2026-05-18T00:11:01Z","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":"0bae3b796a605c600be52703671a6780e57b7c01bbcc0b140cf9ff9123cff975","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2018-07-10T16:06:38Z","title_canon_sha256":"cd12dd158caa891997b900c496eeff1757b76184d0d4a4e65d4eb2d619482be8"},"schema_version":"1.0","source":{"id":"1807.03731","kind":"arxiv","version":1}},"canonical_sha256":"3ff084b5938e7906adc87ee182a539969a5f0617a2c87ed36b731dcaaba2f320","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3ff084b5938e7906adc87ee182a539969a5f0617a2c87ed36b731dcaaba2f320","first_computed_at":"2026-05-18T00:11:01.124542Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T00:11:01.124542Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"XOI34B+Aw+eKcMq0WpL9o8PxG/Q1iUoLb6WL3lLA6N4xac3B5MruaDwi8oQZk5R59FfLf7oev4YCHubwYJlFBQ==","signature_status":"signed_v1","signed_at":"2026-05-18T00:11:01.125264Z","signed_message":"canonical_sha256_bytes"},"source_id":"1807.03731","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:6c9ddcf86dd04b680915bf027ab12782952df80f797cdb2ecf8213fd7db6353a","sha256:66df90a595b1cc995a3dd18626db5afe72558f2f6e095eff4e3c4ce03f993a5c"],"state_sha256":"46071034f8591828ca269cf662965ad8edff41f004d1345e9ba1e68021a217c6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"OjI+33K2pL25QjlXgJQ6tlSJjp5O0VXjJ93OoGJZN33eSpgFNQZhbcAtLCdpIAPPf3TGmKy10QYYnM0jfzFnAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-04T08:32:56.547245Z","bundle_sha256":"b6471ae862cbdf06f187c28161a23c6fc2baa5c2d4a24d5cf02cf30195d9330f"}}