{"paper":{"title":"Point Cloud Segmentation for Autonomous Clip Positioning in Laparoscopic Cholecystectomy on a Phantom","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Bal\\'azs Gyenes, Franziska Mathis-Ullrich, Gerhard Neumann, Martin Wagner, Nikolai Franke, Paul Maria Scheikl, Pit Henrich, Rayan Younis","submitted_at":"2026-06-10T13:12:45Z","abstract_excerpt":"High-risk applications in robotics, such as robot-assisted surgery, present unique challenges. These systems must be both highly precise and interpretable in order to be deployed in environments with very low tolerance for error or unsafe exploration. We present the first robotic system to demonstrate autonomous clip positioning on a physical phantom in laparoscopic surgery, one of the most common interventions in general surgery. After segmentation of a colorless point cloud from a single camera, target positions for the clips are extracted using spline interpolation, and can then be adjusted"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2606.12048","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/2606.12048/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"}