{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2024:UKYFWJ3JCYFWS4BU3VDBFKCEPI","short_pith_number":"pith:UKYFWJ3J","schema_version":"1.0","canonical_sha256":"a2b05b2769160b697034dd4612a8447a149e9d02be0ee47685a490492fc6960f","source":{"kind":"arxiv","id":"2408.01604","version":1},"attestation_state":"computed","paper":{"title":"Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Andrew Lewis, Blake Hannaford, Dun-Tin Chiang, Haonan Peng, Helen Lai, Shan Lin, Wenfan Jiang, Yun-Hsuan Su","submitted_at":"2024-08-02T23:46:57Z","abstract_excerpt":"Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have often been designed with cable-driven arms and tools because cables allow for larger motors to be placed at the base of the robot, further from the operating area where space is at a premium. However, by connecting the joint to its motor with a cable, any stretch in the cable can lead to errors in kinematic estimation from encoders at the motor, which can result in difficulties for accurate control of the surgical tool."},"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":"2408.01604","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2024-08-02T23:46:57Z","cross_cats_sorted":["cs.SY","eess.SY"],"title_canon_sha256":"feea2f7a3f86da330ffe96dc3a279b1dae3e09e19ab86a84f80562c30e9b9b84","abstract_canon_sha256":"82a3fa7e81f459bdace139725687f7de7233ebbbf27aa7fccaeb64c74e3e932b"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T08:52:00.119524Z","signature_b64":"9/f0O1mZZND4QcX70yYwAXGJxjlIJT6tSUl1nCyTdFjakCGxsTYBNAOJaUkmjEFbpUksP5ZzW/mz3PLAL8LlAA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"a2b05b2769160b697034dd4612a8447a149e9d02be0ee47685a490492fc6960f","last_reissued_at":"2026-07-05T08:52:00.118975Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T08:52:00.118975Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Efficient Data-driven Joint-level Calibration of Cable-driven Surgical Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY","eess.SY"],"primary_cat":"cs.RO","authors_text":"Andrew Lewis, Blake Hannaford, Dun-Tin Chiang, Haonan Peng, Helen Lai, Shan Lin, Wenfan Jiang, Yun-Hsuan Su","submitted_at":"2024-08-02T23:46:57Z","abstract_excerpt":"Knowing accurate joint positions is crucial for safe and precise control of laparoscopic surgical robots, especially for the automation of surgical sub-tasks. These robots have often been designed with cable-driven arms and tools because cables allow for larger motors to be placed at the base of the robot, further from the operating area where space is at a premium. However, by connecting the joint to its motor with a cable, any stretch in the cable can lead to errors in kinematic estimation from encoders at the motor, which can result in difficulties for accurate control of the surgical tool."},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2408.01604","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/2408.01604/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":"2408.01604","created_at":"2026-07-05T08:52:00.119035+00:00"},{"alias_kind":"arxiv_version","alias_value":"2408.01604v1","created_at":"2026-07-05T08:52:00.119035+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2408.01604","created_at":"2026-07-05T08:52:00.119035+00:00"},{"alias_kind":"pith_short_12","alias_value":"UKYFWJ3JCYFW","created_at":"2026-07-05T08:52:00.119035+00:00"},{"alias_kind":"pith_short_16","alias_value":"UKYFWJ3JCYFWS4BU","created_at":"2026-07-05T08:52:00.119035+00:00"},{"alias_kind":"pith_short_8","alias_value":"UKYFWJ3J","created_at":"2026-07-05T08:52:00.119035+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"2608.06488","citing_title":"A Disturbance in the Force: Force Actuation on the RAVEN II Surgical Robot with Parallel Motor-Cable Units","ref_index":46,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI","json":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI.json","graph_json":"https://pith.science/api/pith-number/UKYFWJ3JCYFWS4BU3VDBFKCEPI/graph.json","events_json":"https://pith.science/api/pith-number/UKYFWJ3JCYFWS4BU3VDBFKCEPI/events.json","paper":"https://pith.science/paper/UKYFWJ3J"},"agent_actions":{"view_html":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI","download_json":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI.json","view_paper":"https://pith.science/paper/UKYFWJ3J","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=2408.01604&json=true","fetch_graph":"https://pith.science/api/pith-number/UKYFWJ3JCYFWS4BU3VDBFKCEPI/graph.json","fetch_events":"https://pith.science/api/pith-number/UKYFWJ3JCYFWS4BU3VDBFKCEPI/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI/action/timestamp_anchor","attest_storage":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI/action/storage_attestation","attest_author":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI/action/author_attestation","sign_citation":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI/action/citation_signature","submit_replication":"https://pith.science/pith/UKYFWJ3JCYFWS4BU3VDBFKCEPI/action/replication_record"}},"created_at":"2026-07-05T08:52:00.119035+00:00","updated_at":"2026-07-05T08:52:00.119035+00:00"}