{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2006:R4RSOKGDSE3UHZPRK34LH3M64T","short_pith_number":"pith:R4RSOKGD","canonical_record":{"source":{"id":"physics/0610176","kind":"arxiv","version":1},"metadata":{"license":"","primary_cat":"physics.med-ph","submitted_at":"2006-10-22T13:21:03Z","cross_cats_sorted":["q-bio.NC"],"title_canon_sha256":"0ec56b0b3d3d912ef99e72b3ef8070587d660c499451a27db2964df1d873b401","abstract_canon_sha256":"68a16b8add61a9886456193675b23d289d2b3ef468e6405037a46bb56ea0c34b"},"schema_version":"1.0"},"canonical_sha256":"8f232728c3913743e5f156f8b3ed9ee4f887a000d4d821882f1e1189ac88f14f","source":{"kind":"arxiv","id":"physics/0610176","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"physics/0610176","created_at":"2026-05-18T01:08:46Z"},{"alias_kind":"arxiv_version","alias_value":"physics/0610176v1","created_at":"2026-05-18T01:08:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.physics/0610176","created_at":"2026-05-18T01:08:46Z"},{"alias_kind":"pith_short_12","alias_value":"R4RSOKGDSE3U","created_at":"2026-05-18T12:25:54Z"},{"alias_kind":"pith_short_16","alias_value":"R4RSOKGDSE3UHZPR","created_at":"2026-05-18T12:25:54Z"},{"alias_kind":"pith_short_8","alias_value":"R4RSOKGD","created_at":"2026-05-18T12:25:54Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2006:R4RSOKGDSE3UHZPRK34LH3M64T","target":"record","payload":{"canonical_record":{"source":{"id":"physics/0610176","kind":"arxiv","version":1},"metadata":{"license":"","primary_cat":"physics.med-ph","submitted_at":"2006-10-22T13:21:03Z","cross_cats_sorted":["q-bio.NC"],"title_canon_sha256":"0ec56b0b3d3d912ef99e72b3ef8070587d660c499451a27db2964df1d873b401","abstract_canon_sha256":"68a16b8add61a9886456193675b23d289d2b3ef468e6405037a46bb56ea0c34b"},"schema_version":"1.0"},"canonical_sha256":"8f232728c3913743e5f156f8b3ed9ee4f887a000d4d821882f1e1189ac88f14f","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T01:08:46.179114Z","signature_b64":"d60mVmypI00L2CkfUjoTk23QqTEe1PMWH7iPJFdMJkOAv8X7IUN534Ogs8p5a4Xbs9C7dk7jAZt5uggbf5vDCw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"8f232728c3913743e5f156f8b3ed9ee4f887a000d4d821882f1e1189ac88f14f","last_reissued_at":"2026-05-18T01:08:46.178741Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T01:08:46.178741Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"physics/0610176","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":"2026-05-18T01:08:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"iLYkwBsnvQVAJP8Q0KXRMfhxds7jPKmW2YcwAenvGozRRylXkf3cIhxf6qKk4EAVoTuOjVeegdlGmtvltd/0Cw==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T05:01:13.945682Z"},"content_sha256":"96520a978a5cf05e7358efca972c1e8ae84bba82fa21a91b9e8f8cf36b5727f9","schema_version":"1.0","event_id":"sha256:96520a978a5cf05e7358efca972c1e8ae84bba82fa21a91b9e8f8cf36b5727f9"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2006:R4RSOKGDSE3UHZPRK34LH3M64T","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Control of Surgical Gesture under Lingual Electro-Tactile Stimulation","license":"","headline":"","cross_cats":["q-bio.NC"],"primary_cat":"physics.med-ph","authors_text":"Fabien Robineau (TIMC - IMAG), Fr\\'ed\\'eric Boy (LPN), Jacques Demongeot (TIMC - IMAG), Jean-Pierre Orliaguet (LPN), Jose V\\'azquez-Buenosaires (TIMC - IMAG), Yohan Payan (TIMC - IMAG)","submitted_at":"2006-10-22T13:21:03Z","abstract_excerpt":"Performing minimal-invasive surgical punctures require guiding a needle toward an intracorporeal clinically-defined target. As this technique does not involve cutting the body open, a visualization system is employed to provide the surgeon with indirect visual spatial information about the intracorporeal positions of the tool. One may consider that such systems reduce the ergonomics of the situation as they generate a decorrelation between the actual movement of the needle and the displayed information about this movement. The present study aims at assessing the guidance of an intracorporeal p"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"physics/0610176","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":"2026-05-18T01:08:46Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"G54z8txxfujG7dSK6su+WxmbBmCx1v7+sPmUCmHIN9/mwvj5TPCIZOPFzmUE8f0WA4d55PjzHUm+Ox0OvPN+Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-06-05T05:01:13.946026Z"},"content_sha256":"0b8aa549d641a8040571f1850ebaafe39f90eda5002fed48a28f021bc712ab18","schema_version":"1.0","event_id":"sha256:0b8aa549d641a8040571f1850ebaafe39f90eda5002fed48a28f021bc712ab18"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/R4RSOKGDSE3UHZPRK34LH3M64T/bundle.json","state_url":"https://pith.science/pith/R4RSOKGDSE3UHZPRK34LH3M64T/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/R4RSOKGDSE3UHZPRK34LH3M64T/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":"2026-06-05T05:01:13Z","links":{"resolver":"https://pith.science/pith/R4RSOKGDSE3UHZPRK34LH3M64T","bundle":"https://pith.science/pith/R4RSOKGDSE3UHZPRK34LH3M64T/bundle.json","state":"https://pith.science/pith/R4RSOKGDSE3UHZPRK34LH3M64T/state.json","well_known_bundle":"https://pith.science/.well-known/pith/R4RSOKGDSE3UHZPRK34LH3M64T/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2006:R4RSOKGDSE3UHZPRK34LH3M64T","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":"68a16b8add61a9886456193675b23d289d2b3ef468e6405037a46bb56ea0c34b","cross_cats_sorted":["q-bio.NC"],"license":"","primary_cat":"physics.med-ph","submitted_at":"2006-10-22T13:21:03Z","title_canon_sha256":"0ec56b0b3d3d912ef99e72b3ef8070587d660c499451a27db2964df1d873b401"},"schema_version":"1.0","source":{"id":"physics/0610176","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"physics/0610176","created_at":"2026-05-18T01:08:46Z"},{"alias_kind":"arxiv_version","alias_value":"physics/0610176v1","created_at":"2026-05-18T01:08:46Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.physics/0610176","created_at":"2026-05-18T01:08:46Z"},{"alias_kind":"pith_short_12","alias_value":"R4RSOKGDSE3U","created_at":"2026-05-18T12:25:54Z"},{"alias_kind":"pith_short_16","alias_value":"R4RSOKGDSE3UHZPR","created_at":"2026-05-18T12:25:54Z"},{"alias_kind":"pith_short_8","alias_value":"R4RSOKGD","created_at":"2026-05-18T12:25:54Z"}],"graph_snapshots":[{"event_id":"sha256:0b8aa549d641a8040571f1850ebaafe39f90eda5002fed48a28f021bc712ab18","target":"graph","created_at":"2026-05-18T01:08:46Z","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":"Performing minimal-invasive surgical punctures require guiding a needle toward an intracorporeal clinically-defined target. As this technique does not involve cutting the body open, a visualization system is employed to provide the surgeon with indirect visual spatial information about the intracorporeal positions of the tool. One may consider that such systems reduce the ergonomics of the situation as they generate a decorrelation between the actual movement of the needle and the displayed information about this movement. The present study aims at assessing the guidance of an intracorporeal p","authors_text":"Fabien Robineau (TIMC - IMAG), Fr\\'ed\\'eric Boy (LPN), Jacques Demongeot (TIMC - IMAG), Jean-Pierre Orliaguet (LPN), Jose V\\'azquez-Buenosaires (TIMC - IMAG), Yohan Payan (TIMC - IMAG)","cross_cats":["q-bio.NC"],"headline":"","license":"","primary_cat":"physics.med-ph","submitted_at":"2006-10-22T13:21:03Z","title":"Control of Surgical Gesture under Lingual Electro-Tactile Stimulation"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"physics/0610176","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":"sha256:96520a978a5cf05e7358efca972c1e8ae84bba82fa21a91b9e8f8cf36b5727f9","target":"record","created_at":"2026-05-18T01:08:46Z","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":"68a16b8add61a9886456193675b23d289d2b3ef468e6405037a46bb56ea0c34b","cross_cats_sorted":["q-bio.NC"],"license":"","primary_cat":"physics.med-ph","submitted_at":"2006-10-22T13:21:03Z","title_canon_sha256":"0ec56b0b3d3d912ef99e72b3ef8070587d660c499451a27db2964df1d873b401"},"schema_version":"1.0","source":{"id":"physics/0610176","kind":"arxiv","version":1}},"canonical_sha256":"8f232728c3913743e5f156f8b3ed9ee4f887a000d4d821882f1e1189ac88f14f","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"8f232728c3913743e5f156f8b3ed9ee4f887a000d4d821882f1e1189ac88f14f","first_computed_at":"2026-05-18T01:08:46.178741Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-05-18T01:08:46.178741Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"d60mVmypI00L2CkfUjoTk23QqTEe1PMWH7iPJFdMJkOAv8X7IUN534Ogs8p5a4Xbs9C7dk7jAZt5uggbf5vDCw==","signature_status":"signed_v1","signed_at":"2026-05-18T01:08:46.179114Z","signed_message":"canonical_sha256_bytes"},"source_id":"physics/0610176","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:96520a978a5cf05e7358efca972c1e8ae84bba82fa21a91b9e8f8cf36b5727f9","sha256:0b8aa549d641a8040571f1850ebaafe39f90eda5002fed48a28f021bc712ab18"],"state_sha256":"3412ca08830e9dac063c8727c4d7c389477e59ec6177bed8069e3d495180eb28"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"NdSGQOPrBLs5mGOa9kOpGk9g64oL4sWOuG/PlSv8xFS/h5xFeIyEasTE48JzazZ3GbmfAooY7JbAR9/CaP3QBw==","signed_message":"bundle_sha256_bytes","signed_at":"2026-06-05T05:01:13.948075Z","bundle_sha256":"76b360488973d0e2aab062ad4d76e4ac79d009af21970dac455e9d70fc76bd27"}}