{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2025:KBJXQ3CWXOES46SH5SSAAA343S","short_pith_number":"pith:KBJXQ3CW","schema_version":"1.0","canonical_sha256":"5053786c56bb892e7a47eca400037cdca65f96fb5e48e864cbe4d0d3dc2a6d7b","source":{"kind":"arxiv","id":"2503.02265","version":1},"attestation_state":"computed","paper":{"title":"Towards Fluorescence-Guided Autonomous Robotic Partial Nephrectomy on Novel Tissue-Mimicking Hydrogel Phantoms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ahmed Ezzat Ghazi, Axel Krieger, Ethan Kilmer, Jiawei Ge, Joseph Chen, Kevin Cleary, Lauren Shepard, Paul Maria Scheikl, Preksha Sarda, Richard Cha","submitted_at":"2025-03-04T04:25:02Z","abstract_excerpt":"Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and executing incision paths around exophytic renal tumors with a clinically relevant resection margin. Leveraging point cloud observations, the system handles irregular tumor shapes and distinguishes healthy from tumorous tissue based on near-infrared imaging, akin to indocyanine green staining in partial nephrectomy. Tissue-mimicking phantoms are crucial for the development of autonomous robotic surgical systems for i"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"2503.02265","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-03-04T04:25:02Z","cross_cats_sorted":[],"title_canon_sha256":"35c529f0b62d4936f006d4a5a787bd44424c4c4f09381f0de8f87746967b664e","abstract_canon_sha256":"cda2e61f53b5db99cba4b1ccaee0edb2c08967e19a099ad51e46a2ea279a9864"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:23:40.851713Z","signature_b64":"e747WYmY6cltUk5mqxIE2Py80oKF617CdGeS+Ev8MyinfOmJcEf0f3hsFDiM4LgGva/J0SS23gN6J1/DkHlSBA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"5053786c56bb892e7a47eca400037cdca65f96fb5e48e864cbe4d0d3dc2a6d7b","last_reissued_at":"2026-07-05T10:23:40.851160Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:23:40.851160Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Towards Fluorescence-Guided Autonomous Robotic Partial Nephrectomy on Novel Tissue-Mimicking Hydrogel Phantoms","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Ahmed Ezzat Ghazi, Axel Krieger, Ethan Kilmer, Jiawei Ge, Joseph Chen, Kevin Cleary, Lauren Shepard, Paul Maria Scheikl, Preksha Sarda, Richard Cha","submitted_at":"2025-03-04T04:25:02Z","abstract_excerpt":"Autonomous robotic systems hold potential for improving renal tumor resection accuracy and patient outcomes. We present a fluorescence-guided robotic system capable of planning and executing incision paths around exophytic renal tumors with a clinically relevant resection margin. Leveraging point cloud observations, the system handles irregular tumor shapes and distinguishes healthy from tumorous tissue based on near-infrared imaging, akin to indocyanine green staining in partial nephrectomy. Tissue-mimicking phantoms are crucial for the development of autonomous robotic surgical systems for i"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2503.02265","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/2503.02265/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"},"aliases":[{"alias_kind":"arxiv","alias_value":"2503.02265","created_at":"2026-07-05T10:23:40.851212+00:00"},{"alias_kind":"arxiv_version","alias_value":"2503.02265v1","created_at":"2026-07-05T10:23:40.851212+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2503.02265","created_at":"2026-07-05T10:23:40.851212+00:00"},{"alias_kind":"pith_short_12","alias_value":"KBJXQ3CWXOES","created_at":"2026-07-05T10:23:40.851212+00:00"},{"alias_kind":"pith_short_16","alias_value":"KBJXQ3CWXOES46SH","created_at":"2026-07-05T10:23:40.851212+00:00"},{"alias_kind":"pith_short_8","alias_value":"KBJXQ3CW","created_at":"2026-07-05T10:23:40.851212+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S","json":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S.json","graph_json":"https://pith.science/api/pith-number/KBJXQ3CWXOES46SH5SSAAA343S/graph.json","events_json":"https://pith.science/api/pith-number/KBJXQ3CWXOES46SH5SSAAA343S/events.json","paper":"https://pith.science/paper/KBJXQ3CW"},"agent_actions":{"view_html":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S","download_json":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S.json","view_paper":"https://pith.science/paper/KBJXQ3CW","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2503.02265&json=true","fetch_graph":"https://pith.science/api/pith-number/KBJXQ3CWXOES46SH5SSAAA343S/graph.json","fetch_events":"https://pith.science/api/pith-number/KBJXQ3CWXOES46SH5SSAAA343S/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S/action/timestamp_anchor","attest_storage":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S/action/storage_attestation","attest_author":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S/action/author_attestation","sign_citation":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S/action/citation_signature","submit_replication":"https://pith.science/pith/KBJXQ3CWXOES46SH5SSAAA343S/action/replication_record"}},"created_at":"2026-07-05T10:23:40.851212+00:00","updated_at":"2026-07-05T10:23:40.851212+00:00"}