{"bundle_type":"pith_open_graph_bundle","bundle_version":"1.0","pith_number":"pith:2025:WOZ4Q2XB3PFY6HOQDQCK33XBG6","short_pith_number":"pith:WOZ4Q2XB","canonical_record":{"source":{"id":"2505.12624","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T02:15:14Z","cross_cats_sorted":[],"title_canon_sha256":"0d11b29e8d90189f7dc0a188ff3a4c523961b8f5db4f1ba33e6b1ce9e5cfa529","abstract_canon_sha256":"c642a0071a63901db5792ea8348a0704f2841f1ce10a09c949b5f70c9110a124"},"schema_version":"1.0"},"canonical_sha256":"b3b3c86ae1dbcb8f1dd01c04adeee1378a2798c56f4f5f7bb2f3465bb1c7abeb","source":{"kind":"arxiv","id":"2505.12624","version":1},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.12624","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"arxiv_version","alias_value":"2505.12624v1","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.12624","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"pith_short_12","alias_value":"WOZ4Q2XB3PFY","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"pith_short_16","alias_value":"WOZ4Q2XB3PFY6HOQ","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"pith_short_8","alias_value":"WOZ4Q2XB","created_at":"2026-07-05T11:05:07Z"}],"events":[{"event_type":"record_created","subject_pith_number":"pith:2025:WOZ4Q2XB3PFY6HOQDQCK33XBG6","target":"record","payload":{"canonical_record":{"source":{"id":"2505.12624","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T02:15:14Z","cross_cats_sorted":[],"title_canon_sha256":"0d11b29e8d90189f7dc0a188ff3a4c523961b8f5db4f1ba33e6b1ce9e5cfa529","abstract_canon_sha256":"c642a0071a63901db5792ea8348a0704f2841f1ce10a09c949b5f70c9110a124"},"schema_version":"1.0"},"canonical_sha256":"b3b3c86ae1dbcb8f1dd01c04adeee1378a2798c56f4f5f7bb2f3465bb1c7abeb","receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-07-05T11:05:07.172086Z","signature_b64":"GNkUXkEYtx8+Vzn0Qs7ZjN4fIxcHItcDK/KsdBaP4F703VF4vbob93B8naJa2izDj4j+TuxDqexZzJRTapQ5DQ==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"b3b3c86ae1dbcb8f1dd01c04adeee1378a2798c56f4f5f7bb2f3465bb1c7abeb","last_reissued_at":"2026-07-05T11:05:07.171641Z","signature_status":"signed_v1","first_computed_at":"2026-07-05T11:05:07.171641Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"source_kind":"arxiv","source_id":"2505.12624","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":"2026-07-05T11:05:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4hY7V/OWxt7vOP7tIjjKUbt/1hoEQIEeRSwLy1LR6VlsLliSEwv57r2cUeYWQ9M5KpEziDszCkkkprIxzWRODQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T04:15:15.682960Z"},"content_sha256":"99ceb29578aec73d9cd4c3cf29e97b1c5019a1e418a0e38c531c3e055a197ac7","schema_version":"1.0","event_id":"sha256:99ceb29578aec73d9cd4c3cf29e97b1c5019a1e418a0e38c531c3e055a197ac7"},{"event_type":"graph_snapshot","subject_pith_number":"pith:2025:WOZ4Q2XB3PFY6HOQDQCK33XBG6","target":"graph","payload":{"graph_snapshot":{"paper":{"title":"EndoForce: Development of an Intuitive Axial Force Measurement Device for Endoscopic Robotic Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Byungsik Cheon, Dong-Ho Lee, Dong-Soo Kwon, Dukyoo Kong, Hansoul Kim","submitted_at":"2025-05-19T02:15:14Z","abstract_excerpt":"Robotic endoscopic systems provide intuitive control and eliminate radiation exposure, making them a promising alternative to conventional methods. However, the lack of axial force measurement from the robot remains a major challenge, as it can lead to excessive colonic elongation, perforation, or ureteral complications. Although various methods have been proposed in previous studies, limitations such as model dependency, bulkiness, and environmental sensitivity remain challenges that should be addressed before clinical application. In this study, we propose EndoForce, a device designed for in"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.12624","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/2505.12624/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":"2026-07-05T11:05:07Z","supersedes":[],"prev_event":null,"signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"4jKHQLyge1XP9e/KDzJMy2DKL2bZa4XpNc9BvBPr78Bz+QOvC+KuIZ0kfWmBSEIdRCZFDLliOdX+puBOukE0DQ==","signed_message":"open_graph_event_sha256_bytes","signed_at":"2026-08-20T04:15:15.683460Z"},"content_sha256":"8383aaa7070f07d37fab332b18481a6bffc7f318f424d674cc91746fa70fc3b6","schema_version":"1.0","event_id":"sha256:8383aaa7070f07d37fab332b18481a6bffc7f318f424d674cc91746fa70fc3b6"}],"timestamp_proofs":[],"mirror_hints":[{"mirror_type":"https","name":"Pith Resolver","base_url":"https://pith.science","bundle_url":"https://pith.science/pith/WOZ4Q2XB3PFY6HOQDQCK33XBG6/bundle.json","state_url":"https://pith.science/pith/WOZ4Q2XB3PFY6HOQDQCK33XBG6/state.json","well_known_bundle_url":"https://pith.science/.well-known/pith/WOZ4Q2XB3PFY6HOQDQCK33XBG6/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":"2026-08-20T04:15:15Z","links":{"resolver":"https://pith.science/pith/WOZ4Q2XB3PFY6HOQDQCK33XBG6","bundle":"https://pith.science/pith/WOZ4Q2XB3PFY6HOQDQCK33XBG6/bundle.json","state":"https://pith.science/pith/WOZ4Q2XB3PFY6HOQDQCK33XBG6/state.json","well_known_bundle":"https://pith.science/.well-known/pith/WOZ4Q2XB3PFY6HOQDQCK33XBG6/bundle.json"},"state":{"state_type":"pith_open_graph_state","state_version":"1.0","pith_number":"pith:2025:WOZ4Q2XB3PFY6HOQDQCK33XBG6","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":"c642a0071a63901db5792ea8348a0704f2841f1ce10a09c949b5f70c9110a124","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T02:15:14Z","title_canon_sha256":"0d11b29e8d90189f7dc0a188ff3a4c523961b8f5db4f1ba33e6b1ce9e5cfa529"},"schema_version":"1.0","source":{"id":"2505.12624","kind":"arxiv","version":1}},"source_aliases":[{"alias_kind":"arxiv","alias_value":"2505.12624","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"arxiv_version","alias_value":"2505.12624v1","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.2505.12624","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"pith_short_12","alias_value":"WOZ4Q2XB3PFY","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"pith_short_16","alias_value":"WOZ4Q2XB3PFY6HOQ","created_at":"2026-07-05T11:05:07Z"},{"alias_kind":"pith_short_8","alias_value":"WOZ4Q2XB","created_at":"2026-07-05T11:05:07Z"}],"graph_snapshots":[{"event_id":"sha256:8383aaa7070f07d37fab332b18481a6bffc7f318f424d674cc91746fa70fc3b6","target":"graph","created_at":"2026-07-05T11:05:07Z","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/2505.12624/integrity.json","findings":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938","summary":{"advisory":0,"by_detector":{},"critical":0,"informational":0}},"paper":{"abstract_excerpt":"Robotic endoscopic systems provide intuitive control and eliminate radiation exposure, making them a promising alternative to conventional methods. However, the lack of axial force measurement from the robot remains a major challenge, as it can lead to excessive colonic elongation, perforation, or ureteral complications. Although various methods have been proposed in previous studies, limitations such as model dependency, bulkiness, and environmental sensitivity remain challenges that should be addressed before clinical application. In this study, we propose EndoForce, a device designed for in","authors_text":"Byungsik Cheon, Dong-Ho Lee, Dong-Soo Kwon, Dukyoo Kong, Hansoul Kim","cross_cats":[],"headline":"","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T02:15:14Z","title":"EndoForce: Development of an Intuitive Axial Force Measurement Device for Endoscopic Robotic Systems"},"references":{"count":0,"internal_anchors":0,"resolved_work":0,"sample":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2505.12624","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":"sha256:99ceb29578aec73d9cd4c3cf29e97b1c5019a1e418a0e38c531c3e055a197ac7","target":"record","created_at":"2026-07-05T11:05:07Z","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":"c642a0071a63901db5792ea8348a0704f2841f1ce10a09c949b5f70c9110a124","cross_cats_sorted":[],"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2025-05-19T02:15:14Z","title_canon_sha256":"0d11b29e8d90189f7dc0a188ff3a4c523961b8f5db4f1ba33e6b1ce9e5cfa529"},"schema_version":"1.0","source":{"id":"2505.12624","kind":"arxiv","version":1}},"canonical_sha256":"b3b3c86ae1dbcb8f1dd01c04adeee1378a2798c56f4f5f7bb2f3465bb1c7abeb","receipt":{"algorithm":"ed25519","builder_version":"pith-number-builder-2026-05-17-v1","canonical_sha256":"b3b3c86ae1dbcb8f1dd01c04adeee1378a2798c56f4f5f7bb2f3465bb1c7abeb","first_computed_at":"2026-07-05T11:05:07.171641Z","key_id":"pith-v1-2026-05","kind":"pith_receipt","last_reissued_at":"2026-07-05T11:05:07.171641Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","receipt_version":"0.3","signature_b64":"GNkUXkEYtx8+Vzn0Qs7ZjN4fIxcHItcDK/KsdBaP4F703VF4vbob93B8naJa2izDj4j+TuxDqexZzJRTapQ5DQ==","signature_status":"signed_v1","signed_at":"2026-07-05T11:05:07.172086Z","signed_message":"canonical_sha256_bytes"},"source_id":"2505.12624","source_kind":"arxiv","source_version":1}}},"equivocations":[],"invalid_events":[],"applied_event_ids":["sha256:99ceb29578aec73d9cd4c3cf29e97b1c5019a1e418a0e38c531c3e055a197ac7","sha256:8383aaa7070f07d37fab332b18481a6bffc7f318f424d674cc91746fa70fc3b6"],"state_sha256":"ab3d294a4bb04a41e82e9216921fd2662783c2ffbc2383356ea3f6d04d0a599a"},"bundle_signature":{"signature_status":"signed_v1","algorithm":"ed25519","key_id":"pith-v1-2026-05","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54","signature_b64":"3462lvlD470ccE4Zqh6Vy4wGbzBv4eWlmfXqYD84Et/SuziMcMSnYauFm6n1lQk+LOBVCgkdgdP2XDUNMADNCA==","signed_message":"bundle_sha256_bytes","signed_at":"2026-08-20T04:15:15.686879Z","bundle_sha256":"58248d938b5416a05eac01b274c79e102c3d84fbc57d93d3f95e6828c45492bd"}}