Pith Number

pith:RQLNAZPL

pith:2026:RQLNAZPLXZJ4QGTOSYZ445DYKV

not attested not anchored not stored refs pending

SAMe: A Semantic Anatomy Mapping Engine for Robotic Ultrasound

Bo Du, Christoph F. Dietrich, Dacheng Tao, Duojie Chen, Jianxin Liu, Jing Zhang, Qinghong Zhao, Wentao Jiang, Xinwu Cui, Zihan Lou

SAMe turns one external body image into patient-specific organ locations and 6-DoF probe starting positions for robotic ultrasound from clinical complaints.

arxiv:2604.25646 v2 · 2026-04-28 · cs.CV · cs.RO

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\pithnumber{RQLNAZPLXZJ4QGTOSYZ445DYKV}

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Record completeness

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2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

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The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

In real-robot experiments, SAMe achieved overall organ-hit rates of 97.3% for liver initialization and 81.7% for kidney initialization across the evaluated target sets. Even when restricted to the centroid target, SAMe outperformed the surface-heuristic baseline for both liver and kidney initialization.

C2weakest assumption

That a single external body image is sufficient to instantiate an accurate, patient-specific anatomical representation for the grounded targets without any additional registration using preoperative CT or MRI.

C3one line summary

SAMe grounds clinical complaints to target organs, builds a patient-specific anatomical map from a single external image, and outputs probe initialization poses, reaching 97.3% liver and 81.7% kidney hit rates on a real robot.

Receipt and verification

First computed	2026-05-20T01:05:14.507400Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

8c16d065ebbe53c81a6e9633ce74785543f9081ff22cfb7db50735620100ddda

Aliases

arxiv: 2604.25646 · arxiv_version: 2604.25646v2 · doi: 10.48550/arxiv.2604.25646 · pith_short_12: RQLNAZPLXZJ4 · pith_short_16: RQLNAZPLXZJ4QGTO · pith_short_8: RQLNAZPL

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/RQLNAZPLXZJ4QGTOSYZ445DYKV \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 8c16d065ebbe53c81a6e9633ce74785543f9081ff22cfb7db50735620100ddda

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "92e067b14c2ce1a38fc0ccdfd74e78372ef2f506536d1269c5e626677b3bfd0d",
    "cross_cats_sorted": [
      "cs.RO"
    ],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.CV",
    "submitted_at": "2026-04-28T13:44:09Z",
    "title_canon_sha256": "831c62dd777253633248598e43c4649b81a5287d34a35d9056b77a197056a195"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.25646",
    "kind": "arxiv",
    "version": 2
  }
}