{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2024:WFLW27PHRAWQQRPBSWYW3HIR6F","short_pith_number":"pith:WFLW27PH","canonical_record":{"source":{"id":"2406.09947","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"q-bio.TO","submitted_at":"2024-06-14T11:47:57Z","cross_cats_sorted":[],"title_canon_sha256":"145cd781fdc518b4f9505d006d563f689a31b3aea307ae0c14c8473c39cbaeca","abstract_canon_sha256":"b7623690eda8cad42684b585ddabe1dedf26dd8efefbc520b12d98a0e95c6ec0"},"schema_version":"1.0"},"canonical_sha256":"b1576d7de7882d0845e195b16d9d11f16c2cbec12859b3623d21946594e8c212","source":{"kind":"arxiv","id":"2406.09947","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.09947","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"arxiv_version","alias_value":"2406.09947v1","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.09947","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"pith_short_12","alias_value":"WFLW27PHRAWQ","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"pith_short_16","alias_value":"WFLW27PHRAWQQRPB","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"pith_short_8","alias_value":"WFLW27PH","created_at":"2026-07-05T10:17:08Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2024:WFLW27PHRAWQQRPBSWYW3HIR6F","target":"record","payload":{"canonical_record":{"source":{"id":"2406.09947","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"q-bio.TO","submitted_at":"2024-06-14T11:47:57Z","cross_cats_sorted":[],"title_canon_sha256":"145cd781fdc518b4f9505d006d563f689a31b3aea307ae0c14c8473c39cbaeca","abstract_canon_sha256":"b7623690eda8cad42684b585ddabe1dedf26dd8efefbc520b12d98a0e95c6ec0"},"schema_version":"1.0"},"canonical_sha256":"b1576d7de7882d0845e195b16d9d11f16c2cbec12859b3623d21946594e8c212","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T10:17:08.972861Z","signature_b64":"bCWCYjtNgY2KpAD65mX/4mBPRv0eq2oasIej57X+lzCCsh1rop7U0boSWT5LWF5qxfz5P0qBDJf0B84j08M0DA==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b1576d7de7882d0845e195b16d9d11f16c2cbec12859b3623d21946594e8c212","last_reissued_at":"2026-07-05T10:17:08.972414Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T10:17:08.972414Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2406.09947","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":"2026-07-05T10:17:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"1qjHbDn8L0gUEG1lZ6tEBO80swgy76Y6trSWyBuXJPDtCatmm63ZXk1LmrxVkRdBNPJwCBr7a0a9o3hay0q7Dg==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T14:26:37.426429Z"},"content_sha256":"ca8649c75fc7d7b5366e8b1e10b1197a26695c33a05c81fc50e3a3fcf69061b6","schema_version":"1.0","event_id":"sha256:ca8649c75fc7d7b5366e8b1e10b1197a26695c33a05c81fc50e3a3fcf69061b6"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2024:WFLW27PHRAWQQRPBSWYW3HIR6F","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"A Calibration Approach for Elasticity Estimation with Medical Tools","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"q-bio.TO","authors_text":"Alexander Schlaefer, Anna-Katarina Herrmann, Christian J. Cyron, Johanna Sprenger, Kian Abdolazizi, Maximilian Neidhardt, Sarah Grube, Sarah Latus","submitted_at":"2024-06-14T11:47:57Z","abstract_excerpt":"Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement curves can be acquired. However, force-displacement curves strongly depend on the tool geometry which is often complex in the case of medical tools. Hence, a tool calibration procedure is desired to directly map force-displacement curves to the corresponding tissue elasticity.We present an experimental setup for calibrating medical tools with a robot. First"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.09947","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/2406.09947/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":"2026-07-05T10:17:08Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"8lRtEtvP/Ii1pAXC4G98uokqvo7feNRZ8FIhss9l4NoqAbnCgMJQTdoWBc+GLhuAP8P9IzulW3oCjiUd7QpeBA==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-14T14:26:37.426984Z"},"content_sha256":"1ecd931ebd18758eef7d0df7316522bd04b86a787451c1fcec70bedb17209d3b","schema_version":"1.0","event_id":"sha256:1ecd931ebd18758eef7d0df7316522bd04b86a787451c1fcec70bedb17209d3b"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WFLW27PHRAWQQRPBSWYW3HIR6F/bundle.json","state_url":"https://pith.science/pith/WFLW27PHRAWQQRPBSWYW3HIR6F/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WFLW27PHRAWQQRPBSWYW3HIR6F/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":"2026-08-14T14:26:37Z","links":{"resolver":"https://pith.science/pith/WFLW27PHRAWQQRPBSWYW3HIR6F","bundle":"https://pith.science/pith/WFLW27PHRAWQQRPBSWYW3HIR6F/bundle.json","state":"https://pith.science/pith/WFLW27PHRAWQQRPBSWYW3HIR6F/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WFLW27PHRAWQQRPBSWYW3HIR6F/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2024:WFLW27PHRAWQQRPBSWYW3HIR6F","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":"b7623690eda8cad42684b585ddabe1dedf26dd8efefbc520b12d98a0e95c6ec0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"q-bio.TO","submitted_at":"2024-06-14T11:47:57Z","title_canon_sha256":"145cd781fdc518b4f9505d006d563f689a31b3aea307ae0c14c8473c39cbaeca"},"schema_version":"1.0","source":{"id":"2406.09947","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2406.09947","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"arxiv_version","alias_value":"2406.09947v1","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2406.09947","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"pith_short_12","alias_value":"WFLW27PHRAWQ","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"pith_short_16","alias_value":"WFLW27PHRAWQQRPB","created_at":"2026-07-05T10:17:08Z"},{"alias_kind":"pith_short_8","alias_value":"WFLW27PH","created_at":"2026-07-05T10:17:08Z"}],"graph_snapshots":[{"event_id":"sha256:1ecd931ebd18758eef7d0df7316522bd04b86a787451c1fcec70bedb17209d3b","target":"graph","created_at":"2026-07-05T10:17:08Z","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/2406.09947/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Soft tissue elasticity is directly related to different stages of diseases and can be used for tissue identification during minimally invasive procedures. By palpating a tissue with a robot in a minimally invasive fashion force-displacement curves can be acquired. However, force-displacement curves strongly depend on the tool geometry which is often complex in the case of medical tools. Hence, a tool calibration procedure is desired to directly map force-displacement curves to the corresponding tissue elasticity.We present an experimental setup for calibrating medical tools with a robot. First","authors_text":"Alexander Schlaefer, Anna-Katarina Herrmann, Christian J. Cyron, Johanna Sprenger, Kian Abdolazizi, Maximilian Neidhardt, Sarah Grube, Sarah Latus","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"q-bio.TO","submitted_at":"2024-06-14T11:47:57Z","title":"A Calibration Approach for Elasticity Estimation with Medical Tools"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2406.09947","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:ca8649c75fc7d7b5366e8b1e10b1197a26695c33a05c81fc50e3a3fcf69061b6","target":"record","created_at":"2026-07-05T10:17:08Z","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":"b7623690eda8cad42684b585ddabe1dedf26dd8efefbc520b12d98a0e95c6ec0","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"q-bio.TO","submitted_at":"2024-06-14T11:47:57Z","title_canon_sha256":"145cd781fdc518b4f9505d006d563f689a31b3aea307ae0c14c8473c39cbaeca"},"schema_version":"1.0","source":{"id":"2406.09947","kind":"arxiv","version":1}},"canonical_sha256":"b1576d7de7882d0845e195b16d9d11f16c2cbec12859b3623d21946594e8c212","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b1576d7de7882d0845e195b16d9d11f16c2cbec12859b3623d21946594e8c212","first_computed_at":"2026-07-05T10:17:08.972414Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T10:17:08.972414Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"bCWCYjtNgY2KpAD65mX/4mBPRv0eq2oasIej57X+lzCCsh1rop7U0boSWT5LWF5qxfz5P0qBDJf0B84j08M0DA==","signature_status":"signed_v1","signed_at":"2026-07-05T10:17:08.972861Z","signed_message":"canonical_sha256_bytes"},"source_id":"2406.09947","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:ca8649c75fc7d7b5366e8b1e10b1197a26695c33a05c81fc50e3a3fcf69061b6","sha256:1ecd931ebd18758eef7d0df7316522bd04b86a787451c1fcec70bedb17209d3b"],"state_sha256":"42598539c703bdd41aa24f21c901ae8ce4eca14d45261be213a57046b31d8dc6"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"sOyFkBT/xA2etyikfgWzCIEgTedDi3iJ5lwZucjm9QoKW/lgfLQZejNjPqREgi/JtcWGwnmGhoHohZhC2UyJAA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-14T14:26:37.438423Z","bundle_sha256":"f031fa5a092ac26ab0c9643f44cbdda4a645afcd28846d2cf57e4a61826a0c98"}}