{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2021:TQHJ5OA5LLZSAQJJV43EJA3UFX","short_pith_number":"pith:TQHJ5OA5","canonical_record":{"source":{"id":"2104.09869","kind":"arxiv","version":5},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T10:02:09Z","cross_cats_sorted":[],"title_canon_sha256":"1e6a7747296ab461aec5383889d3668b88449d94317b3c1380ede75f60d3d561","abstract_canon_sha256":"593adddb151acd49a0855e21d18d889a5006fb3697492492f9d75726137e8235"},"schema_version":"1.0"},"canonical_sha256":"9c0e9eb81d5af3204129af364483742df4fee5311b1ce274895600527eedd553","source":{"kind":"arxiv","id":"2104.09869","version":5},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.09869","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"arxiv_version","alias_value":"2104.09869v5","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.09869","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_12","alias_value":"TQHJ5OA5LLZS","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_16","alias_value":"TQHJ5OA5LLZSAQJJ","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_8","alias_value":"TQHJ5OA5","created_at":"2026-07-05T03:32:52Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2021:TQHJ5OA5LLZSAQJJV43EJA3UFX","target":"record","payload":{"canonical_record":{"source":{"id":"2104.09869","kind":"arxiv","version":5},"metadata":{"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T10:02:09Z","cross_cats_sorted":[],"title_canon_sha256":"1e6a7747296ab461aec5383889d3668b88449d94317b3c1380ede75f60d3d561","abstract_canon_sha256":"593adddb151acd49a0855e21d18d889a5006fb3697492492f9d75726137e8235"},"schema_version":"1.0"},"canonical_sha256":"9c0e9eb81d5af3204129af364483742df4fee5311b1ce274895600527eedd553","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T03:32:52.576376Z","signature_b64":"7hDa+du2UOwqJwhip3X0o9b0puLL8DcCRx/HY2LYQ9SqNNVDBl8f2wXI3ihFqMaiPJTCW9DaR91wsL1v3xF5BA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"9c0e9eb81d5af3204129af364483742df4fee5311b1ce274895600527eedd553","last_reissued_at":"2026-07-05T03:32:52.575859Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T03:32:52.575859Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2104.09869","source_version":5,"attestation_state":"computed"},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:32:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"Z1qRaxRQ/UtI5rpmTWAWLfmJa42Yofk1XrUrepw4Ft5JjNNtLfJc+9ADfSLBCPLaTon2PkjYzcN24Te8kbxxBQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T18:50:20.731905Z"},"content_sha256":"e4c6137f325e3ec562877ce6e94d01e090dfbbb4faa4825235d2bacec2f3e716","schema_version":"1.0","event_id":"sha256:e4c6137f325e3ec562877ce6e94d01e090dfbbb4faa4825235d2bacec2f3e716"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2021:TQHJ5OA5LLZSAQJJV43EJA3UFX","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Agostino Stilli, Andrea Mariani, Anton Deguet, Arianna Menciassi, Claudia D'Ettorre, Danail Stoyanov, Ferdinando Rodriguez y Baena, Gregory S. Fischer, Peter Kazanzides, Pietro Valdastri, Russell H. Taylor, Simon P. DiMaio","submitted_at":"2021-04-20T10:02:09Z","abstract_excerpt":"Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different specialities. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an acade"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.09869","kind":"arxiv","version":5},"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/2104.09869/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"},"verdict_id":null},"signer":{"signer_id":"pith.science","signer_type":"pith_registry","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"created_at":"2026-07-05T03:32:52Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"JZKusNoENc2LuteNX8tqcMlZ6ZhVPzBZ+slOixzI4AR0lckRIas/xi3KtRqHx4sfy2KWrKAtUwlonmA0fa5/Ag==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-22T18:50:20.732459Z"},"content_sha256":"bf6fba317defe0046e00c66b0ccd55b244cdc793fbc4a1f9987babe21af8be26","schema_version":"1.0","event_id":"sha256:bf6fba317defe0046e00c66b0ccd55b244cdc793fbc4a1f9987babe21af8be26"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/TQHJ5OA5LLZSAQJJV43EJA3UFX/bundle.json","state_url":"https://pith.science/pith/TQHJ5OA5LLZSAQJJV43EJA3UFX/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/TQHJ5OA5LLZSAQJJV43EJA3UFX/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":"2026-08-22T18:50:20Z","links":{"resolver":"https://pith.science/pith/TQHJ5OA5LLZSAQJJV43EJA3UFX","bundle":"https://pith.science/pith/TQHJ5OA5LLZSAQJJV43EJA3UFX/bundle.json","state":"https://pith.science/pith/TQHJ5OA5LLZSAQJJV43EJA3UFX/state.json","well_known_bundle":"https://pith.science/.well-known/pith/TQHJ5OA5LLZSAQJJV43EJA3UFX/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2021:TQHJ5OA5LLZSAQJJV43EJA3UFX","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":"593adddb151acd49a0855e21d18d889a5006fb3697492492f9d75726137e8235","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T10:02:09Z","title_canon_sha256":"1e6a7747296ab461aec5383889d3668b88449d94317b3c1380ede75f60d3d561"},"schema_version":"1.0","source":{"id":"2104.09869","kind":"arxiv","version":5}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2104.09869","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"arxiv_version","alias_value":"2104.09869v5","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2104.09869","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_12","alias_value":"TQHJ5OA5LLZS","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_16","alias_value":"TQHJ5OA5LLZSAQJJ","created_at":"2026-07-05T03:32:52Z"},{"alias_kind":"pith_short_8","alias_value":"TQHJ5OA5","created_at":"2026-07-05T03:32:52Z"}],"graph_snapshots":[{"event_id":"sha256:bf6fba317defe0046e00c66b0ccd55b244cdc793fbc4a1f9987babe21af8be26","target":"graph","created_at":"2026-07-05T03:32:52Z","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"},"integrity":{"available":true,"clean":true,"detectors_run":[],"endpoint":"/pith/2104.09869/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different specialities. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an acade","authors_text":"Agostino Stilli, Andrea Mariani, Anton Deguet, Arianna Menciassi, Claudia D'Ettorre, Danail Stoyanov, Ferdinando Rodriguez y Baena, Gregory S. Fischer, Peter Kazanzides, Pietro Valdastri, Russell H. Taylor, Simon P. DiMaio","cross_cats":[],"headline":"","license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T10:02:09Z","title":"Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2104.09869","kind":"arxiv","version":5},"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:e4c6137f325e3ec562877ce6e94d01e090dfbbb4faa4825235d2bacec2f3e716","target":"record","created_at":"2026-07-05T03:32:52Z","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":"593adddb151acd49a0855e21d18d889a5006fb3697492492f9d75726137e8235","cross_cats_sorted":[],"license":"http://creativecommons.org/licenses/by/4.0/","primary_cat":"cs.RO","submitted_at":"2021-04-20T10:02:09Z","title_canon_sha256":"1e6a7747296ab461aec5383889d3668b88449d94317b3c1380ede75f60d3d561"},"schema_version":"1.0","source":{"id":"2104.09869","kind":"arxiv","version":5}},"canonical_sha256":"9c0e9eb81d5af3204129af364483742df4fee5311b1ce274895600527eedd553","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"9c0e9eb81d5af3204129af364483742df4fee5311b1ce274895600527eedd553","first_computed_at":"2026-07-05T03:32:52.575859Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T03:32:52.575859Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"7hDa+du2UOwqJwhip3X0o9b0puLL8DcCRx/HY2LYQ9SqNNVDBl8f2wXI3ihFqMaiPJTCW9DaR91wsL1v3xF5BA==","signature_status":"signed_v1","signed_at":"2026-07-05T03:32:52.576376Z","signed_message":"canonical_sha256_bytes"},"source_id":"2104.09869","source_kind":"arxiv","source_version":5}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:e4c6137f325e3ec562877ce6e94d01e090dfbbb4faa4825235d2bacec2f3e716","sha256:bf6fba317defe0046e00c66b0ccd55b244cdc793fbc4a1f9987babe21af8be26"],"state_sha256":"8c98c5e1ab0a38e50ed44939e8f137f216210eee1cd43c66b87c2322233ce4b4"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"RyCA9DZkj98bPwXC9k/bzMJkxanVSOOTw7BNuR/Phbhs0skeStVMQorPHwhIAmlGFHuE1puiTWeRyjZU8pcTDg==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-22T18:50:20.738065Z","bundle_sha256":"2cedbf3d34e0194c0a29c92a3ea984bb02df917d2b7ab4ccbb0241af477149b8"}}