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We give a new presentation of Brzozowski's algorithm to minimize finite automata using elementary facts from universal algebra and coalgebra and building on earlier work by Arbib and Manes on a categorical presentation of Kalman duality between reachability and observability. This leads to a simple proof of its correctness and opens the door to further generalizations. Notably, we derive algorithms to obtain minimal language equivalent automata from Moore nondeterministic and weighted automata.

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Background: Precise needle puncture of renal calyces is a challenging and essential step for successful percutaneous nephrolithotomy. This work tests and evaluates, through a clinical trial, a real-time navigation system to plan and guide percutaneous kidney puncture. Methods: A novel system, entitled i3DPuncture, was developed to aid surgeons in establishing the desired puncture site and the best virtual puncture trajectory, by gathering and processing data from a tracked needle with optical passive markers. In order to navigate and superimpose the needle to a preoperative volume, the patient, 3D image data and tracker system were previously registered intraoperatively using seven points that were strategically chosen based on rigid bone structures and nearby kidney area. In addition, relevant anatomical structures for surgical navigation were automatically segmented using a multi-organ segmentation algorithm that clusters volumes based on statistical properties and minimum description length criterion. For each cluster, a rendering transfer function enhanced the visualization of different organs and surrounding tissues. Results: One puncture attempt was sufficient to achieve a successful kidney puncture. The puncture took 265 seconds, and 32 seconds were necessary to plan the puncture trajectory. The virtual puncture path was followed correctively until the needle tip reached the desired kidney calyceal. Conclusions: This new solution provided spatial information regarding the needle inside the body and the possibility to visualize surrounding organs. It may offer a promising and innovative solution for percutaneous punctures.

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We present a new and versatile sensor platform to readout the response of sensitive colorimetric films. The platform is fully self-contained and based on a switched dual-wavelength scheme. After filtering and signal processing, the system is able to provide self-referenced measures of color intensity changes in the film, while being immune to noise sources such as ambient light and fluctuations in the power source and in the optical path. By controlling the power and the switching frequency between the two wavelengths it is possible to fine tune the output gain as well as the operational range of the sensor for a particular application, thus improving the signal conditioning. The platform uses a micro-controller that complements the analog circuit used to acquire the signal. The latter pre-amplifies, filters and conditions the signal, leaving the micro-controller free to perform sensor linearization and unit conversion. By changing the sensitive film and the wavelength of the light source it is possible to use this platform for a wide range of sensing applications.