{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2019:HQV7RXG2LNWN2WNHLB2N6NYGF3","short_pith_number":"pith:HQV7RXG2","canonical_record":{"source":{"id":"1901.03307","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-01-10T18:22:59Z","cross_cats_sorted":[],"title_canon_sha256":"327bdc73cc8bd335bda2453649aad306a3b353dcdcd343fdc2bf2011b7a9eb1e","abstract_canon_sha256":"93bc5b8b912797f4675495bd68252acfa9d008b5563d048718c00f5623bf172a"},"schema_version":"1.0"},"canonical_sha256":"3c2bf8dcda5b6cdd59a75874df37062ef8d26a45aaa7fda96814ef8cb0bc9044","source":{"kind":"arxiv","id":"1901.03307","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.03307","created_at":"2026-05-17T23:56:34Z"},{"alias_kind":"arxiv_version","alias_value":"1901.03307v1","created_at":"2026-05-17T23:56:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.03307","created_at":"2026-05-17T23:56:34Z"},{"alias_kind":"pith_short_12","alias_value":"HQV7RXG2LNWN","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HQV7RXG2LNWN2WNH","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HQV7RXG2","created_at":"2026-05-18T12:33:18Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2019:HQV7RXG2LNWN2WNHLB2N6NYGF3","target":"record","payload":{"canonical_record":{"source":{"id":"1901.03307","kind":"arxiv","version":1},"metadata":{"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-01-10T18:22:59Z","cross_cats_sorted":[],"title_canon_sha256":"327bdc73cc8bd335bda2453649aad306a3b353dcdcd343fdc2bf2011b7a9eb1e","abstract_canon_sha256":"93bc5b8b912797f4675495bd68252acfa9d008b5563d048718c00f5623bf172a"},"schema_version":"1.0"},"canonical_sha256":"3c2bf8dcda5b6cdd59a75874df37062ef8d26a45aaa7fda96814ef8cb0bc9044","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:56:34.778950Z","signature_b64":"BCTZuX7F9NZcX/hEHGeHAMxUxIdG6Bsb+Zt7sL8TguGstHnFLm9DUtc0YPm/R3TUd3nOJRS5rqImE2DsoyspCQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"3c2bf8dcda5b6cdd59a75874df37062ef8d26a45aaa7fda96814ef8cb0bc9044","last_reissued_at":"2026-05-17T23:56:34.778291Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:56:34.778291Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"1901.03307","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":"2026-05-17T23:56:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FDS9mUytxaz/YmuVwK/g8tbjFxvreMiHu536+BpPbLcRjrC1dwotjlKa10Al6VbvP/y9/IRJOHlbEEOMLPKTCw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T13:01:49.780710Z"},"content_sha256":"d107acb2362b44dd08db713a63ef13fbd99daab541f18af7b69478db004394a3","schema_version":"1.0","event_id":"sha256:d107acb2362b44dd08db713a63ef13fbd99daab541f18af7b69478db004394a3"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2019:HQV7RXG2LNWN2WNHLB2N6NYGF3","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ali Ebrahimi, Changyan He, Iulian Iordachita, Marin Kobilarov, Niravkumar Patel, Peter Gehlbach","submitted_at":"2019-01-10T18:22:59Z","abstract_excerpt":"Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeon's tactile perception of useful and familiar tool-to-sclera forces. While the large mass and inertia of eye surgical robot prevents surgeon microtremor, loss of perception of small scleral forces may put the sclera at risk of injury. In this paper, we have applied and compared two different methods to assure the safety of sclera tissue during robot-assisted eye surgery. In the"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.03307","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":"2026-05-17T23:56:34Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"F6avHaTS7yDEawzoPzgGtv9uoqOk8iZNBjCL0CGyD3SZr8E6CpYO16lUNUKvQcYPjFlHMHCXEDqvJ4+HHHgxBw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-05-26T13:01:49.781409Z"},"content_sha256":"ce7fb607a3933254f243df15f46cba6f68e5f839bd6ff4e8cb9e36025be0e465","schema_version":"1.0","event_id":"sha256:ce7fb607a3933254f243df15f46cba6f68e5f839bd6ff4e8cb9e36025be0e465"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/HQV7RXG2LNWN2WNHLB2N6NYGF3/bundle.json","state_url":"https://pith.science/pith/HQV7RXG2LNWN2WNHLB2N6NYGF3/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/HQV7RXG2LNWN2WNHLB2N6NYGF3/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":"2026-05-26T13:01:49Z","links":{"resolver":"https://pith.science/pith/HQV7RXG2LNWN2WNHLB2N6NYGF3","bundle":"https://pith.science/pith/HQV7RXG2LNWN2WNHLB2N6NYGF3/bundle.json","state":"https://pith.science/pith/HQV7RXG2LNWN2WNHLB2N6NYGF3/state.json","well_known_bundle":"https://pith.science/.well-known/pith/HQV7RXG2LNWN2WNHLB2N6NYGF3/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2019:HQV7RXG2LNWN2WNHLB2N6NYGF3","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":"93bc5b8b912797f4675495bd68252acfa9d008b5563d048718c00f5623bf172a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-01-10T18:22:59Z","title_canon_sha256":"327bdc73cc8bd335bda2453649aad306a3b353dcdcd343fdc2bf2011b7a9eb1e"},"schema_version":"1.0","source":{"id":"1901.03307","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"1901.03307","created_at":"2026-05-17T23:56:34Z"},{"alias_kind":"arxiv_version","alias_value":"1901.03307v1","created_at":"2026-05-17T23:56:34Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1901.03307","created_at":"2026-05-17T23:56:34Z"},{"alias_kind":"pith_short_12","alias_value":"HQV7RXG2LNWN","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_16","alias_value":"HQV7RXG2LNWN2WNH","created_at":"2026-05-18T12:33:18Z"},{"alias_kind":"pith_short_8","alias_value":"HQV7RXG2","created_at":"2026-05-18T12:33:18Z"}],"graph_snapshots":[{"event_id":"sha256:ce7fb607a3933254f243df15f46cba6f68e5f839bd6ff4e8cb9e36025be0e465","target":"graph","created_at":"2026-05-17T23:56:34Z","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":"Surgeon hand tremor limits human capability during microsurgical procedures such as those that treat the eye. In contrast, elimination of hand tremor through the introduction of microsurgical robots diminishes the surgeon's tactile perception of useful and familiar tool-to-sclera forces. While the large mass and inertia of eye surgical robot prevents surgeon microtremor, loss of perception of small scleral forces may put the sclera at risk of injury. In this paper, we have applied and compared two different methods to assure the safety of sclera tissue during robot-assisted eye surgery. In the","authors_text":"Ali Ebrahimi, Changyan He, Iulian Iordachita, Marin Kobilarov, Niravkumar Patel, Peter Gehlbach","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-01-10T18:22:59Z","title":"Sclera Force Control in Robot-assisted Eye Surgery: Adaptive Force Control vs. Auditory Feedback"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1901.03307","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:d107acb2362b44dd08db713a63ef13fbd99daab541f18af7b69478db004394a3","target":"record","created_at":"2026-05-17T23:56:34Z","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":"93bc5b8b912797f4675495bd68252acfa9d008b5563d048718c00f5623bf172a","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by-nc-sa/4.0/","primary_cat":"cs.RO","submitted_at":"2019-01-10T18:22:59Z","title_canon_sha256":"327bdc73cc8bd335bda2453649aad306a3b353dcdcd343fdc2bf2011b7a9eb1e"},"schema_version":"1.0","source":{"id":"1901.03307","kind":"arxiv","version":1}},"canonical_sha256":"3c2bf8dcda5b6cdd59a75874df37062ef8d26a45aaa7fda96814ef8cb0bc9044","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"3c2bf8dcda5b6cdd59a75874df37062ef8d26a45aaa7fda96814ef8cb0bc9044","first_computed_at":"2026-05-17T23:56:34.778291Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-17T23:56:34.778291Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"BCTZuX7F9NZcX/hEHGeHAMxUxIdG6Bsb+Zt7sL8TguGstHnFLm9DUtc0YPm/R3TUd3nOJRS5rqImE2DsoyspCQ==","signature_status":"signed_v1","signed_at":"2026-05-17T23:56:34.778950Z","signed_message":"canonical_sha256_bytes"},"source_id":"1901.03307","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:d107acb2362b44dd08db713a63ef13fbd99daab541f18af7b69478db004394a3","sha256:ce7fb607a3933254f243df15f46cba6f68e5f839bd6ff4e8cb9e36025be0e465"],"state_sha256":"8450058f155fc69a767723bff74874887d8fdc79bf03963852c203e636ad9952"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"FXCK3U8vP3bdgRAhMzLAURMSVrIB0pvnq8qe9lDAedpuw2cxx6k9ID92/ooIMLXxunoTmWd83TyszpTvT7l5Bg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-05-26T13:01:49.786571Z","bundle_sha256":"65fbabc5d6f2e5617a5571c4c3d27768dc8ac5d0ba2437375ac72c08114e7c57"}}