Northern Digital orporated VICRA POLARIS VICRA User Manual USERS MANUAL

Northern Digital Incorporated POLARIS VICRA USERS MANUAL

USERS MANUAL

Polaris Vicra User GuideRevision 2October 2005IMPORTANTPlease read this entire documentbefore attempting to operatethe Polaris Vicra System
Copyright 2005 Northern Digital Inc. All Rights Reserved.p Printed in Canada. Revision StatusRevision Number Date (DD/MM/YY) DescriptionRevision 1 27/09/05 Initial releaseRevision 2 19/10/05 minor updatesPart Number: IL-1070100
Polaris Vicra User Guide - Revision 2Published by: Northern Digital Inc.103 Randall Dr.Waterloo, Ontario, Canada N2V 1C5Telephone: + (519) 884-5142Toll Free: + (877) 634-6340Global: + (800) 634 634 00Facsimile: + (519) 884-5184Website: www.ndigital.comCopyright 2005, Northern Digital Inc.All rights reserved. No part of this document may be reproduced, transcribed, transmitted, distributed, modi-fied, merged or translated into any language in any form by any means - graphic, electronic, or mechanical, including but not limited to photocopying, recording, taping or information storage and retrieval systems - with-out the prior written consent of Northern Digital Inc. Certain copying of the software included herein is unlawful. Refer to your software license agreement for information respecting permitted copying.DISCLAIMER OF WARRANTIES AND LIMITATION OF LIABILITIESNorthern Digital Inc. has taken due care in preparing this document and the programs and data on the elec-tronic media accompanying this document including research, development, and testing.This document describes the state of Northern Digital Inc.’s knowledge respecting the subject matter herein at the time of its publication, and may not reflect its state of knowledge at all times in the future. Northern Digital Inc. has carefully reviewed this document for technical accuracy. If errors are suspected, the user should con-sult with Northern Digital Inc. prior to proceeding. Northern Digital Inc. makes no expressed or implied warranty of any kind with regard to this document or the programs and data on the electronic media accompanying this document. Northern Digital Inc. makes no representation, condition or warranty to the user or any other party with respect to the adequacy of this document or accompanying media for any particular purpose or with respect to its ade-quacy to produce a particular result. The user’s right to recover damages caused by fault or negligence on the part of Northern Digital Inc. shall be limited to the amount paid by the user to Northern Digital Inc. for the provi-sion of this document. In no event shall Northern Digital Inc. be liable for special, collateral, incidental, direct, indirect or consequential damages, losses, costs, charges, claims, demands, or claim for lost profits, data, fees or expenses of any nature or kind.Product names listed are trademarks of their respective manufacturers. Company names listed are trademarks or trade names of their respective companies.
Polaris Vicra User Guide - Revision 2
Table of ContentsPolaris Vicra User Guide - Revision 2 iTable of ContentsRead Me First! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Disclaimers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Contact Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4About This Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5Organization of Content . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Polaris Vicra System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61.2 Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71.3 Host USB Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111.4 Power Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.5 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121.6 Polaris Vicra Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131.7 Polaris Vicra System Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141.8 Component Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142 Setting Up the Polaris Vicra System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.1 Unpacking the Polaris Vicra System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.2 Polaris Vicra System Operating Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152.3 Mounting the Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182.4 Mounting the Host USB Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192.5 Connecting the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192.6 Installing the Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202.7 Installing the USB Drivers (Windows) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212.8 Linux Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222.9 Keyed Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table of Contentsii Polaris Vicra User Guide - Revision 23 How the Polaris Vicra System Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .253.2 Information Returned by the Polaris Vicra System . . . . . . . . . . . . . . . . . . . . . . . . . . 253.3 Global Coordinate System and Measurement Volume . . . . . . . . . . . . . . . . . . . . . . . 263.4 Marker Detection and Tool Tracking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283.5 Polaris Vicra System Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303.6 Tool Definition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313.7 Tool Tracking Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313.8 Tool Tip Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353.9 Reference Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363.10 Stray Marker Reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373.11 Phantom Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383.12 Passive Sphere Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 383.13 Active Markers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393.14 Filter Spectral Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393.15 Data Transmission Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403.16 Serial Port Emulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404 Using the Polaris Vicra System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414.1 Getting Started: Tracking Tools. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414.2 Information and Error Flags. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424.3 Setting a Tool as Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444.4 Determining the Tool Tip Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455 Error Flags and Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485.1 Missing and Disabled Transformations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485.2 Tracking Errors and Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495.3 Polaris Vicra System LEDs and Audio Codes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526.1 Position Sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526.2 Cables and Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Table of ContentsPolaris Vicra User Guide - Revision 2 iii7 Setting the Infrared Light Sensitivity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547.1 IR Light Sensitivity Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547.2 Changing the Sensitivity Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558 Calibration and Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578.1 Checking the Calibration of the Polaris Vicra System . . . . . . . . . . . . . . . . . . . . . . . 578.2 Updating the Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589 Approvals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .599.1 Optical Radiation Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5910 Classifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6011 Technical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6111.1 Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6111.2 Host USB Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6211.3 Power Adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6312 Electromagnetic Compatibility. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6412.1 Electrostatic Discharge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6412.2 Cables and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6412.3 Guidance and Manufacturer's Declaration - Electromagnetic Emissions . . . . . . . . 6512.4 Guidance and Manufacturer’s Declaration - Electromagnetic Immunity . . . . . . . . 6512.5 Recommended Separation Distances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6812.6 RF Emissions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6813 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7013.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7013.2 System Indications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7013.3 NDI ToolBox Error Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7213.4 Common Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Table of Contentsiv Polaris Vicra User Guide - Revision 214 Return Procedure and Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7714.1 Return Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7714.2 Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7715 Abbreviations and Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7916 Equipment Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8017 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8118 Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84Appendix A Polaris Vicra Calibration Performance and Methodology . . . . . . . . . . . . . . . . . . . . . . . . 85A.1 Polaris Vicra Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85A.2 Calibration Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
List of FiguresPolaris Vicra User Guide - Revision 2 vList of FiguresFigure 1-1 Polaris Vicra Measurement Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Figure 1-2 Polaris Vicra System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7Figure 1-3 Position Sensor - Front View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8Figure 1-4 Position Sensor - Rear View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9Figure 1-5 Position Sensor - Serial Number Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Figure 1-6 Host USB Converter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Figure 1-7 Host USB Converter Serial Number label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Figure 1-8 Sample Passive Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Figure 2-1 Position Sensor Mounting Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Figure 2-2 Host USB Converter Mounting Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Figure 2-3 Connecting Cables to the Host USB Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Figure 3-1 Position Sensor Global Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26Figure 3-2 Characterized Measurement Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27Figure 3-3 Determining a Marker Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Figure 3-4 Marker With Marker Normal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Figure 3-5 Maximum Marker Angle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Figure 3-6 Flowchart of Tool Tracking Parameters Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Figure 3-7 Sample Calibrator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36Figure 3-8 Phantom Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38Figure 3-9 Filter Spectral Response. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Figure 4-1 Tool Tracking Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Figure 4-2 Partially Out of Volume Flag . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Figure 4-3 Markers Information Pane - Missing Marker. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Figure 4-4 Transformation Pane - Too Few Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
List of Figuresvi Polaris Vicra User Guide - Revision 2Figure 4-5 Markers Information Pane - Exceeded Max Marker Angle . . . . . . . . . . . . . . . . . . . . 44Figure 4-6 Selecting a Reference Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44Figure 4-7 Selecting a Tool to Pivot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Figure 4-8 Pivoting Technique. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Figure 4-9 Pivot Result Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Figure 6-1 How to Avoid Stressed Cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Figure 7-1 Infrared Light Sensitivity Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Figure 13-1 Host USB Converter - Error LED Fault Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72Figure 18-1 EC Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
List of TablesPolaris Vicra User Guide - Revision 2 viiList of TablesTable 1-1 Component Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Table 9-1 Electrical Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Table 9-2 Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Table 10-1 Classifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Table 11-1 Position Sensor - Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Table 11-2 Position Sensor - Operating Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . 61Table 11-3 Position Sensor - Transportation and Storage Environmental Conditions . . . . . . . . 62Table 11-4 Host USB Converter - Technical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Table 11-5 Host USB Converter - Operating Environmental Conditions. . . . . . . . . . . . . . . . . . 62Table 11-6 Host USB Converter - Transportation and Storage Environmental Conditions . . . . 62Table 11-7 Power Adapter - Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63Table 11-8 Power Adapter - Operating Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . 63Table 11-9 Power Adapter - Transportation and Storage Environmental Conditions . . . . . . . . 63Table 12-1 Cables and Accessories That Maintain Compliance . . . . . . . . . . . . . . . . . . . . . . . . . 64Table 12-2 Manufacturer’s Declaration for Electromagnetic Emissions . . . . . . . . . . . . . . . . . . 65Table 12-3 Electromagnetic Immunity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Table 12-4 Electromagnetic Immunity - Not Life Supporting . . . . . . . . . . . . . . . . . . . . . . . . . . 67Table 12-5 Recommended Separation Distances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68Table 13-1 System Visual and Audio Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70Table 13-2 NDI ToolBox Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
List of Tablesviii Polaris Vicra User Guide - Revision 2
Read Me First!Polaris Vicra User Guide - Revision 2 1Read Me First!This guide provides detailed information about using the Polaris® VicraTM Optical Tracking System. Read this section before continuing with the rest of the guide.WarningsIn all NDI documentation, warnings are marked by this symbol. Follow the information in the accompanying paragraph to avoid personal injury.1. Do not use the Polaris Vicra System in the presence of flammable materials such as anaesthetics, solvents, cleaning agents, and endogenous gases. Flammable materials may ignite, causing personal injury or death.2. Do not transport or store the Position Sensor outside the recommended storage temperature range, as this may cause the system to go out of calibration. Reliance on data provided by an out of calibration Position Sensor may lead to inaccurate conclusions and may cause personal injury. A calibration procedure must be performed before using the Position Sensor after it has been transported or stored outside the recommended storage temperature range.3. Do not protect or shield either the Position Sensor or tools with methods not approved by NDI. Non-approved methods will interrupt the optical path and degrade the performance of the system. Reliance on data provided by a Position Sensor without an uninterrupted optical path may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury.4. Radio frequency communications equipment, including portable and mobile devices, may affect the Polaris Vicra System and result in personal injury.5. Do not use cables or accessories, other than those listed in this guide. The use of other cables or accessories may result in increased emissions and/or decreased immunity of the Polaris Vicra System and may result in personal injury.6. Do not incorporate non-NDI components with the Polaris Vicra System. The accuracy of results produced by applications that incorporate non-NDI components with the Polaris Vicra System is unknown. If your application involves personal safety, reliance on these results may increase the possibility of personal injury.7. All user maintenance must be done by appropriately trained personnel. Individual components of the Polaris Vicra System contain no user-serviceable parts. Maintenance by untrained personnel may present an electric shock hazard.8. Do not attempt to bypass the grounding prong on the power cord by using a three-prong to two-prong adapter. The system must be properly grounded to ensure safe operation. Failure to do so presents an electric shock hazard.9. Do not immerse any part of the Polaris Vicra System or allow fluid to enter the equipment. If fluids enter any part of the system they may damage it and present a risk of personal injury.Warning!
Read Me First!2Polaris Vicra User Guide - Revision 210. Do not sterilize the Polaris Vicra Position Sensor as this may cause irreversible damage to its components. Reliance on data provided by a damaged Position Sensor may lead to inaccurate conclusions. If your application involves personal safety, these inaccurate conclusions increase the possibility of personal injury.11. Do not use the Position Sensor without inspecting it for cleanliness and damage both before and during a procedure. Reliance on data provided by an unclean or damaged Position Sensor may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury. 12. Do not use the Polaris Vicra System for absolute measurements; the system is designed for relative measurements only. Treating measurements as absolute may result in an incorrect interpretation of results. If your application involves personal safety, these incorrect interpretations increase the possibility of personal injury.13. Do not use a wireless tool whose design does not conform to the Polaris Vicra System's unique geometry constraints. When a Polaris Vicra System attempts to track more than one wireless tool in the measurement volume, these unique geometry constraints ensure that they are distinguishable from each other. Reliance on data produced by two indistinguishable tools can lead to inaccurate conclusions. If your application involves personal safety, these inaccurate conclusions increase the possibility of personal injury. 14. Do not use a tool with a tip without first performing a pivot procedure to verify the tip offset. Reliance on data produced by a tool with an inaccurate tip offset may lead to inaccurate conclusions. If your application involves personal safety, these inaccurate conclusions increase the possibility of personal injury.15. Do not use markers without inspecting them for cleanliness and damage both before and during a procedure. Reliance on data produced by unclean or damaged markers may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury. 16. Do not obstruct the normal flow of air around the Position Sensor (for example, draping or bagging the Position Sensor). Doing so will affect the Position Sensor's operational environment, possibly beyond its recommended thresholds. Reliance on data provided by a Position Sensor that is outside of recommended thresholds may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury. CautionsCaution! In all NDI documentation, cautions are marked with the word “Caution!”. Follow the information in the accompanying paragraph to avoid damage to equipment.1. To ship the Polaris Vicra System, repack it in the original containers with all protective packaging. The provided packaging is designed to prevent damage to the equipment.2. Make sure that the mains power is disconnected before connecting or disconnecting cables. Failure to do so may cause damage to the equipment.
Read Me First!Polaris Vicra User Guide - Revision 2 33. Always place the Position Sensor on a rigid support system. If not supported, the Position Sensor may fall which will affect the calibration and damage the Position Sensor.4. Use only 70% isopropanol and a lens cleaning solution formulated for multi-coated lenses (for example, AR66) to clean the Position Sensor. Other fluids may cause damage to the illuminator filters. Do not use any paper products for cleaning. Paper products may cause scratches on the illuminator filters.Disclaimers1. Read the entire “Polaris Vicra User Guide” before attempting to operate the Polaris Vicra System.2. This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: a) this device may not cause harmful interference, and b) this device must accept any interference received, including interference that may cause undesired operation.See Section 12.6 on page 68 for further information. 3. The user must determine the suitability of the Polaris Vicra System for their own application.4. The Underwriters Laboratories Inc. (UL) recognition of the Polaris Vicra System includes only the Polaris Vicra Position Sensor, Host USB Converter and the APS APS49ES-24021/Hitron HES49ES-24021 power adapter. This investigation does not include the use of any other power adapter or source with the Polaris Vicra System. Any such configuration will require further investigation. If the Polaris Vicra System is used in a medical application, the final end-use configuration must be independently investigated to the IEC 60601 family of standards and all applicable national differences.5. This equipment has been investigated with regard to safety from electrical shock and fire hazard. The inspection authority has not investigated other physiological effects.6. The Polaris Vicra Position Sensor requires a thermal stabilization period in order to provide reliable measurements. Up to 10 minutes are required for the optical components to reach operating temperature from a cold-start at normal room temperature. Testing should be conducted to determine the thermal stabilization time necessary specific to your application requirements. NDI recommends that a reference tool be used with its systems whenever possible, to ensure there is no drift in the measurement caused by time, settling and/or temperature.7. Northern Digital Inc. has not investigated the implications of incorporating the Polaris Vicra Position Sensor with an automatic position device, or any other automated closed loop systems. Using the Polaris Vicra System in such an application is solely the responsibility of the user.8. Northern Digital Inc. has not fully validated the Polaris Vicra Position Sensor in an MRI environment. If the Polaris Vicra Position Sensor is used in an MRI environment, the user is responsible for determining the performance of the system, including accuracy, in an MRI environment.
Read Me First!4Polaris Vicra User Guide - Revision 29. The Polaris Vicra System emits IR light that may interfere with IR controlled devices, such as operating room tables. It is recommended that you test the Polaris Vicra System if you intend to use it in an environment where other IR controlled devices are in use.10. The Polaris Vicra Position Sensor is designed to ingress protection level IP54, but this evaluation was not included in the UL investigation.Contact InformationIf you have any questions regarding the content of this guide or the operation of this product, please contact us:UpdatesNDI is committed to continuous improvements in the quality and versatility of its software and hardware. To obtain the best results with your NDI system, check the NDI Support Site regularly for update information:http://support.ndigital.com
About This GuidePolaris Vicra User Guide - Revision 2 5About This GuideOrganization of ContentThese sections explain how the system works and how to set it up for use. Read these sections before using the Polaris Vicra System:• Polaris Vicra System Overview• Setting up the Polaris Vicra System• How the Polaris Vicra System works• Using the Polaris Vicra SystemThese sections provide information that may be useful during the operation of the system:• Error Flags and Codes• Setting the Infrared Light Sensitivity• MaintenanceThese sections may be needed for occasional reference; typically, you will not need to refer to them during the day-to-day operation of the Polaris Vicra System:• Calibration and Firmware• Approvals and Classifications• Technical Specifications• Electromagnetic Compatibility• Troubleshooting• Return Procedure and Warranty• Appendix A: Polaris Vicra Calibration Performance and Methodology
Polaris Vicra System Overview6Polaris Vicra User Guide - Revision 21 Polaris Vicra System Overview1.1 IntroductionThe Polaris Vicra System is an optical measurement system that measures the 3D positions of either active or passive markers affixed to application-specific tools. Using this information, the Polaris Vicra System is able to determine the position and orientation of tools within a specific measurement volume. A 3D representation of the measurement volume is shown below in Figure 1-1. Figure 1-1 Polaris Vicra Measurement VolumeThe system has applications in a range of industries, including:• medical•dental• researchThe system consists of a Position Sensor, a Host USB Converter, a power adapter, and cables, see Figure 1-2. A host computer is also required to operate the system. The host computer must be approved to IEC60950 or IEC60601 standard and meet the following minimum specifications:• Pentium Processor (>1GHz recommended) • 256Mb Random Access Memory (RAM) 887 mm557 mm1336 mm491 mm 938 mm392 mm
Polaris Vicra System OverviewPolaris Vicra User Guide - Revision 2 7• 75Mb free disc space • Windows 200/XP or Linux 2.6.8 or greater • Screen resolution 1024x768 (1280x1024 recommended)Figure 1-2 Polaris Vicra System Setup1.2 Position SensorThe Position Sensor is the main component of the Polaris Vicra System. An overview of its operation is as follows:1. The Position Sensor emits infrared (IR) light from its illuminators, similar to the flash on a conventional camera. 2. The IR light floods the surrounding area and reflects back to the Position Sensor off passive sphere markers (passive mode) or triggers markers to activate and emit IR light (active wireless mode). 3. The Position Sensor then measures the positions of the markers, and calculates the transformations (the positions and orientations) of the tools to which the markers are attached. 4. The Position Sensor transmits the transformation data, along with status information, to the host computer for collection, display, or further manipulation.Note For a more detailed description of how the Position Sensor detects markers, see “Marker Detection and Tool Tracking” on page 28.The Position Sensor can operate in two modes; passive mode and active wireless mode. The mode is automatically selected, controlled by settings in the tool definition file. (A tool definition file stores information about a tool.)Host USB ConverterTo ComputerUSB CablePower AdapterPosition Sensor CablePosition SensorPower Adapter Cable
Polaris Vicra System Overview8Polaris Vicra User Guide - Revision 2Front ViewFigure 1-3 Position Sensor - Front ViewThe front of the Position Sensor incorporates the following components:Illuminator Two arrays of infrared Light Emitting Diodes (IREDs) that provide IR light for the passive sphere markers or a “chirp” activation trigger for active markers.Sensor Two sensors that each comprise a lens and CCD. They collect IR light that is reflected from passive sphere markers (passive mode) or emitted from active markers (active wireless mode).Indicator LED Three LEDs that provide the following indications (left to right):•Power LED : Flashes green during system warm-up. Steady green when system is ready for use. •Status LED : Steady green when the communications connection is available. •Error LED : Lights steady amber if a critical error is detected (Position Sensor must be returned to NDI). Flashes amber if a non-critical error is detected (for example, a firmware update is not completed).Note If a non-critical error is detected (error LED is flashing), refer to the NDI ToolBox application to further diagnose the fault. (The nature of the error is described on the NDI ToolBox initial page.) If you are using your own applications, use the GET command to read the “Info.StatusAlert” parameter to check the alert status. Refer to the “Polaris Application Program Interface Guide” for further information.SensorSensorIlluminator IlluminatorIndicator LEDs (3)
Polaris Vicra System OverviewPolaris Vicra User Guide - Revision 2 9Rear ViewFigure 1-4 Position Sensor - Rear View The rear of the Position Sensor incorporates the components detailed below: Mount 1/4” thread tripod mount, that incorporates three M3 x 0.5 mm x 8 mm threads.Connector (LEMO) A 14 pin connector that provides power to the Position Sensor and allows communications to/from the Position Sensor. Note It is good practice to disconnect mains power before connecting or disconnecting cables. Failure to do so may cause damage to the equipment.Serial Number LabelThe serial number label is located on the bottom of the Position Sensor and shows the Item ID, model, serial number, and manufacture date of the Position Sensor.Figure 1-5 Position Sensor - Serial Number Label Audio CodesIn addition to the indicator LEDs, the Position Sensor emits audio tones to alert the user to events. The codes are interpreted as follows:• Two tones are emitted on reset or when power is applied to the Position Sensor. (This feature can be disabled in NDI Tool Box software.)• If the host computer does not send a command to the system within a given time, the Position Sensor will emit two quick tones every three seconds. (This feature is an application watchdog and is set by the API command HWCDOG.) Mount Connector
Polaris Vicra System Overview10 Polaris Vicra User Guide - Revision 2• The API command BEEP can be used to set up to nine tones as required. Refer to the “Polaris Application Program Interface Guide” for further details on setting the BEEP command. Bump SensorThe Position Sensor houses a bump sensor that detects when the Position Sensor has been bumped above a shock limit broadly equivalent to a 200 mm to 254 mm drop onto a vinyl tiled concrete surface. If a bump is detected above this threshold, the error LED on the Position Sensor will flash, indicating that a non-critical error has been detected.You can check the bump sensor status using NDI ToolBox application software. For further information on NDI ToolBox, refer to the online help.Because a bump can affect the calibration of the Position Sensor, the system will not report transformations if the bump sensor has detected a bump, unless:• the bump sensor has been cleared, or• reply option 0x0800 is used with the TX or BX command.Note See the “Polaris Application Program Interface Guide” for details on checking and clearing the bump sensor, and using the TX, BX and GET commands.If a bump has been detected, NDI recommends that you perform an accuracy assessment procedure with the NDI Accuracy Assessment Kit (AAK), to ensure that the Position Sensor is still calibrated. For information on the accuracy assessment procedure and AAK, contact NDI or visit the support site at http://support.ndigital.com. The bump sensor circuit derives its power from an internal battery that has an operational life of approximately 10 years. As the battery begins to lose power, the battery alert flag (in the Info.Status.Alerts parameter) will be set intermittently. This will cause the error indicator LED on the Position Sensor to flash. The intermittent indication is caused by the battery voltage fluctuating about the fault threshold level. (The Position Sensor must be returned to NDI to have the battery replaced.)Note The bump sensor battery is a Lithium battery. If you dispose of the Position Sensor locally, make sure that you adhere to all applicable legislation and regulations relating to the disposal of Lithium batteries.Ingress ProtectionThe Position Sensor is designed to an ingress protection level of IP 54. The “5” denotes that the Position Sensor is protected against dust. The “4” denotes that the Position Sensor is protected against liquid sprayed in all directions. To maintain an ingress protection level of IP 54, the Position Sensor cable (attached to the Host USB Converter) must be plugged in. For details on connecting the system, see “Connecting the Hardware” on page 19.
Polaris Vicra System OverviewPolaris Vicra User Guide - Revision 2 111.3 Host USB ConverterThe Host USB Converter provides the interface between the Position Sensor, the power adapter, and the host computer: • The attached Position Sensor cable connects the Host USB Converter to the Position Sensor. • The power adapter and USB cable plugs into the Host USB Converter.• Modem status bits are provided see “Serial Port Emulation” on page 40.Figure 1-6 Host USB ConverterThe Host USB Converter incorporates the sub-assemblies detailed below. Cable Covers: Two covers (top and bottom) that are secured together by means of a thumbscrew. The covers retain the USB and power adapter cables in place.Position Sensor Cable: Provides connection for data and power between the Position Sensor and Host USB Converter. This cable is permanently connected to the Host USB Converter and is either 4.5 m or 8 m, depending on the configuration of your system. Power Indicator: Lights green when power is applied to the Host USB Converter.Error Indicator: Lights amber when the Host USB Converter has detected a fault. Mounting Feet: Three feet that incorporate an internal thread (M6 x 1 mm pitch x 4 mm depth) to allow the Host USB Converter to be attached to an external structure (for example, a cart). For free-standing use, rubber inserts are located in the mounting feet. Indicator LED(Error) Indicator LED(Power)Position Sensor CablePower ConnectorMounting Feet x 3USB ConnectorCable Covers(top and bottom)
Polaris Vicra System Overview12 Polaris Vicra User Guide - Revision 2Serial Number LabelThe serial number label is located on the bottom of the Host USB Converter and shows the Item ID, model, serial number, and manufacture date of the Host USB Converter.Figure 1-7 Host USB Converter Serial Number label1.4 Power Adapter The system is powered by an NDI supplied power adapter (Advanced Power Systems, part number APS49ES-24021/Hitron HES49ES-24021). The power adapter connects to the mains supply and provides DC power to the Position Sensor via the Host USB Converter. Alternatively, power may be supplied by a customer provided power adapter that meets the following criteria:• medical grade, double insulated (required if end use will be in a medical environment)• 12/24 V DC, 1.2 A output (40 W typical)• Switchcraft part number 760 plug (or equivalent)Note Please see disclaimer #4 on page 3 for information regarding the UL recognition and alternate power supplies.Note If a non-NDI supplied power adapter is used, it should be chosen to suit the particular use and the resulting system configuration must be verified for electrical safety by an approved test laboratory.For further information contact NDI.1.5 CablesNDI supplies additional cables for use with the system:Position Sensor Cable: Provides connection for data and power between the Position Sensor and Host USB Converter. This cable is permanently connected to the Host USB Converter and is either 4.5 m or 8 m, depending on the configuration of your system. USB Cable: Provides connection for data between the host computer and Host USB Converter. This cable is a USB, A-B male, double shielded, 5 m cable.Power Adapter Output Cable: Provides connection for power to the Host USB Converter. This cable is permanently connected to the power adapter and has a plug-in jack connector to connect to the Host USB Converter.Power Adapter Power Cable: Connects the power adapter to the mains supply. This cable is a medical grade AC line cord.
Polaris Vicra System OverviewPolaris Vicra User Guide - Revision 2 131.6 Polaris Vicra ToolsThe Polaris Vicra System utilizes wireless tools, which may be active or passive. Passive tools incorporate retro-reflective passive markers and active wireless tools incorporate IRED markers. The Position Sensor tracks tools based on the geometry of the markers on each tool. The system can track up to six compatible tools simultaneously and these may include both active wireless and passive tools. The Position Sensor requires a tool definition file for each tool. A tool definition file describes a tool to the Position Sensor (including the tool’s marker geometry). The tool definition file for a particular tool must be loaded from the host computer before the Polaris Vicra System can track that tool. Note For more information on tool definition files, see “Tool Definition File” on page 31. Polaris Vicra System tools are described in more detail in “Polaris Vicra System Tools” on page 30.Note For information on tool design and construction, refer to the “Polaris Tool Design Guide”.Passive ToolsPassive tools incorporate NDI passive sphere markers. The passive sphere markers have a retro-reflective coating that reflects IR light back to its source, instead of scattering it. As such, the IR light from the Position Sensor illuminators reflects off the markers directly back to the sensors.Markers can be attached to an object such that the markers are fixed with respect to one another, to form a tool. The markers must be attached to the object using NDI mounting posts, which are manufactured to firmly hold NDI spheres. The Polaris Vicra System can track the positions and orientations of tools, and can also report the positions of individual passive spheres.An example of a passive tool is shown in Figure 1-8. The example shows a probe that incorporates four passive sphere markers.For more information on passive sphere markers, see “Passive Sphere Markers” on page 38.Figure 1-8 Sample Passive ToolActive Wireless ToolsActive wireless tools incorporate IRED markers that emit IR light. The markers are incorporated in tools that also house an IR receiver and a (battery) power source. The (previously loaded) tool definition file identifies it to the system as an active wireless tool.Passive Sphere Markers
Polaris Vicra System Overview14 Polaris Vicra User Guide - Revision 2The Position Sensor codes (“chirps”) the IR pulses emitted from its illuminators. These coded IR pulses are received by the IR receiver on the tool which then activates the IREDs. The Position Sensor receives the IR emitted by the IREDs and processes it in the same manner as passive tool reflections. For more information on IRED markers, see “Active Markers” on page 39.1.7 Polaris Vicra System SoftwareThe following software is included on the Polaris Vicra CD. You can also download the software from the NDI Support Site at: http://support.ndigital.com.NDI CAPI Sample A sample program written for Windows, and the source code for the program. This program provides an example of how to write programs to operate the Polaris Vicra System.NDI ToolBox Use this program to configure, upgrade, troubleshoot, and test the Polaris Vicra System. For more information, see the NDI ToolBox online help.Note NDI 6D Architect application software is located on the CD that accompanies the developer kit.1.8 Component Parts ListThe following is a list of components that are available with the Polaris Vicra System:.Note Additional components are available to support the Polaris Vicra System. Contact NDI for further details, or visit the Support site at http://support.ndigital.com. Table 1-1 Component Parts ListItem Part NumberPolaris Vicra Position Sensor 8800788.xxx.yyyPolaris Host USB Converter (incorporating 4.5 m communications cable)8800810.001Polaris Host USB Converter (incorporating 8 m communications cable)8800810.002Polaris Vicra Power Adapter 4100139Power Cord 7500010 (North America)or7500012 (France/Belgium/Germany)Universal Serial Bus (USB) A-B cable 2 m2600596Polaris Vicra CD 1800042Polaris Vicra User Guide IL-1070100
Setting Up the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 152 Setting Up the Polaris Vicra System2.1 Unpacking the Polaris Vicra SystemThe Polaris Vicra System is shipped with a Position Sensor, a Host USB Converter, a power adapter, cables, the Polaris Vicra CD, and documentation.When unpacking the Polaris Vicra System, be sure to handle all system components with care. Keep the packaging in good condition; you will need to use it if the system ever needs to be returned to NDI for repair. Note See “Return Procedure” on page 77 for instructions on returning your system to NDI.2.2 Polaris Vicra System Operating EnvironmentIn order for the Polaris Vicra System to operate correctly, the system must be set up in an environment that meets the following criteria:WarningsRead the following warnings before using the Polaris Vicra System, to avoid the risk of personal injury.1. Do not use the Polaris Vicra System in the presence of flammable materials such as anaesthetics, solvents, cleaning agents, and endogenous gases. Flammable materials may ignite, causing personal injury or death.2. Do not protect or shield either the Position Sensor or tools with methods not approved by NDI. Non-approved methods will interrupt the optical path and degrade the performance of the system. Reliance on data provided by a Position Sensor without an uninterrupted optical path may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury.3. Radio frequency communications equipment, including portable and mobile devices, may affect the Polaris Vicra System and result in personal injury.4. Do not use cables or accessories, other than those listed in this guide. The use of other cables or accessories may result in increased emissions and/or decreased immunity of the Polaris Vicra System and may result in personal injury.5. Do not incorporate non-NDI components with the Polaris Vicra System. The accuracy of results produced by applications that incorporate non-NDI components with the Polaris Vicra System is unknown. If your application involves personal safety, reliance on these results may increase the possibility of personal injury.6. Do not attempt to bypass the grounding prong on the power cord by using a three-prong to two-prong adapter. The system must be properly grounded to ensure safe operation. Failure to do so presents an electric shock hazard.Warning!
Setting Up the Polaris Vicra System16 Polaris Vicra User Guide - Revision 27. Do not immerse any part of the Polaris Vicra System or allow fluid to enter the equipment. If fluids enter any part of the system they may damage it and present a risk of personal injury.8. Do not sterilize the Polaris Vicra Position Sensor as this may cause irreversible damage to its components. Reliance on data provided by a damaged Position Sensor may lead to inaccurate conclusions. If your application involves personal safety, these inaccurate conclusions increase the possibility of personal injury.9. Do not use the Position Sensor without inspecting it for cleanliness and damage both before and during a procedure. Reliance on data provided by an unclean or damaged Position Sensor may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury. 10. Do not use the Polaris Vicra System for absolute measurements; the system is designed for relative measurements only. Treating measurements as absolute may result in an incorrect interpretation of results. If your application involves personal safety, these incorrect interpretations increase the possibility of personal injury.11. Do not obstruct the normal flow of air around the Position Sensor (for example, draping or bagging the Position Sensor). Doing so will affect the Position Sensor's operational environment, possibly beyond its recommended thresholds. Reliance on data provided by a Position Sensor that is outside of recommended thresholds may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury.CautionsCaution! Read the following cautions before using the Polaris Vicra System to prevent the risk of damage to the system.1. Make sure that the mains power is disconnected before connecting or disconnecting cables. Failure to do so may cause damage to the equipment.2. Always place the Position Sensor on a rigid support system. If not supported, the Position Sensor may fall which will affect the calibration and damage the Position Sensor.Operating Environment• There must be a clear line of sight between the Position Sensor and the tools to be tracked. The tools must be inside the characterized measurement volume. Refer to Figure 3-2 on page 27 for the dimensions of the characterized measurement volume.• Make sure that sources of background IR light in the 800 nm to 1100 nm range (e.g. sunlight, some operating room lights) are minimized. The Position Sensor is sensitive to IR light. Since the Position Sensor functions by detecting IR light reflected from, or emitted by, markers, other sources of IR light can interfere with the Polaris Vicra System.• Make sure that there are no large reflective surfaces within the field of view (described on page 26). For example, the gantry for a magnetic resonance imaging (MRI) machine has a
Setting Up the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 17large reflective surface. It can be draped with non-reflective material to eliminate reflections.• Make sure that the tools do not have flat reflective surfaces. Certain tool shapes and surfaces can cause reflections that may interfere with the Polaris Vicra System. For more information, see the “Polaris Tool Design Guide”.• The system requires a warm-up time from storage temperature to operating temperature equivalent to 10 minutes plus one minute for every 1°C of difference between storage temperature and operating temperature. (If the temperature difference is within 5°C, the warm-up time will be 10 minutes.)For example, if the system is stored at -10°C and moved to a location at +30°C, the warm-up time will be 10 minutes, plus an additional 40 minutes to account for the difference in temperature. • The operating environment is as close as possible to 20ºC. The Polaris Vicra System is characterized at 20ºC and is therefore most accurate at this temperature.• If the system is to be used in an MRI environment, contact NDI for information on response of the system.
Setting Up the Polaris Vicra System18 Polaris Vicra User Guide - Revision 22.3 Mounting the Position SensorThe Position Sensor is mounted via a built-in 1/4” thread tripod mount, or 3 (user supplied) M3 x 0.5 mm pitch x 9 mm screws. Figure 2-1 shows the Position Sensor dimensions and mounting arrangement. Figure 2-1 Position Sensor Mounting Details273See Detail A696962 M3x0.5x93 PlacesThread 1/4-20x1013.4320.1411.6323.25Detail A37.85All dimensions in mm
Setting Up the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 192.4 Mounting the Host USB ConverterThe Host USB Converter can be free-standing or may be mounted via M6 x 1 mm pitch x 4 mm deep threaded holes located in the three mounting feet. Figure 2-2 shows the Host USB Converter mounting arrangement, with dimensions. Figure 2-2 Host USB Converter Mounting Details2.5 Connecting the HardwareNote It is good practise to disconnect the mains power before connecting or disconnecting cables.1. Connect the Position Sensor cable (attached to the Host USB Converter) to the connector located on the back of the Position Sensor. Align the red marking on the Position Sensor connector with the red marking on the cable connector (the double keys of the connectors should be aligned).2. Connect the USB cable B plug and power adapter cable to the Host USB Converter, as shown in Figure 2-3.3. Locate the top and bottom cable covers in place on the Host USB Converter. Secure the covers with the thumbscrew, as shown in Figure 2-3.8857 40See Detail A28.5342Detail A51 64M6x1x33PlacesAll dimensions in mm
Setting Up the Polaris Vicra System20 Polaris Vicra User Guide - Revision 2Figure 2-3 Connecting Cables to the Host USB Converter4. Plug the USB cable A plug into the host computer.5. Make sure all the cables are connected firmly, and placed where they will not be stressed, stepped on, or bent.6. Plug the power cable into the power adapter and plug the power cable into the power mains and turn on the mains.The Polaris Vicra System will begin a diagnostic evaluation. During this evaluation, the LEDs on the Position Sensor will flash. When the diagnostic evaluation is complete, the Position Sensor will emit two tones and the power LED on the Position Sensor will light.Note The Position Sensor initially communicates to the host computer at 9600 baud. If you are using the NDI ToolBox application it will increase the baud rate as high as possible. If you are using your own application, the baud rate can be set using the “COMM” API command. Refer to the “Polaris Application Program Interface Guide”.2.6 Installing the Software The NDI software is located on the Polaris Vicra CD. You can also download the software from the NDI Support Site at http://support.ndigital.com.Note The Polaris Vicra CD does not contain NDI 6D Architect. That software application is located on the CD that accompanies the developer kit. NDI Combined API SampleTo install NDI Combined API Sample, copy the contents of the “CombinedAPISample” folder from the Polaris Vicra CD onto the host computer.Top Cable CoverBottom Cable CoverPower AdapterCableUSB CablePosition Sensor Cable
Setting Up the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 21NDI ToolBox (Windows Installation)Note For information on Linux support, refer to “Linux Support” on page 22.To install NDI ToolBox: Follow the on-screen instructions from the auto-run window that appears when you insert the Polaris Vicra CD into the drive. Alternatively, on the Polaris Vicra CD, browse to Windows\ToolBox\ directory and double-click install.exe. Once you start the installation from the install page, a wizard appears. Follow the on-screen instructions to complete the process. The default installation location is C:\Program Files\Northern Digital Inc.\ToolBoxNote The installation of NDI ToolBox also includes installing the drivers for the Host USB Converter. The default installation location is C:\Program Files\Northern Digital Inc.\ToolBox\USB Driver.Note The NDI ToolBox installation includes a Java virtual machine (VM) for Windows and Linux systems. The Java VM included in the NDI ToolBox installation is fully compatible with NDI ToolBox. Other versions of Java VM may cause NDI ToolBox to exhibit unusual or unpredictable behaviour. 2.7 Installing the USB Drivers (Windows)The Windows driver model consists of two parts; low-level USB and high-level virtual serial port. It appears as a Windows serial port, COMx (where x is enumerated) and emulates a standard PC serial port such that the Host USB Converter may be communicated with as a standard RS-232 device.Note For information on Linux support, refer to “Linux Support” on page 22.When you first connect the NDI Host USB Converter to the host computer, you will need to install drivers for the Host USB Converter. There are two sets of drivers for the Host USB Converter:• the first set of drivers enables the Host USB converter to work with the host computer• the second set of drivers sets up the USB port where the Host USB Converter is connected to emulate a serial portDriver LocationIf you have already installed NDI ToolBox, the USB drivers were installed as part of that installation. By default, the drivers are located at C:\Program Files\Northern Digital Inc\ToolBox\ USB Driver. (See “NDI ToolBox (Windows Installation)” on page 21.)The drivers are also located on the Polaris Vicra CD in the USB Driver folder.Installing the USB Drivers1. When you first connect the Host USB Converter to the host computer, the Found New Hardware wizard will begin automatically.
Setting Up the Polaris Vicra System22 Polaris Vicra User Guide - Revision 22. When prompted, select the option that allows you to specify the drivers’ location. (“Install from a specific list or location” in Windows XP, “Search for a suitable driver” in Windows 2000.)3. Browse to the folder containing the drivers, either on the host computer or on the Polaris Vicra CD. Windows will automatically select the correct drivers from the folder.4. Click Next and Finish as required to complete the installation.Note Windows XP only: After you have selected the folder containing the USB drivers, a warning may appear, indicating that the drivers have not passed Windows Logo testing. Click “Continue Anyway”.5. Once the first set of drivers is installed, the Found New Hardware Wizard will launch a second time. Follow steps 2 to 4 above to install the second set of drivers.6. The system will now appear to be connected through a virtual COM port.Host USB converters are interchangeable on the same USB port, without having to re-install drivers or losing the COM port previously established.The Windows COM number assigned can be changed after installation as follows:1. Launch Device Manager2. Navigate to Ports (COM & LPT)3. Right click on the Host USB Converter4. Select the Properties pop-up menu5. Select the Port Settings tab6. Click on the Advanced Settings button7. From the dialog box that is displayed, select the Com Port Number drop down field8. Reassign the COM port as necessary 9. Select OK to save the changesWindows will remember this mapping even if the Host USB Converter is unplugged from the USB port. When the Host USB Converter is reconnected to the host computer, the COM port mapping will be re-established (if it is plugged into the same USB port).2.8 Linux SupportIntroductionThis section provides information on Linux support for the Polaris Vicra System and covers the following:•USB Drivers• NDI ToolBox
Setting Up the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 23Installing the USB DriversThe Linux driver model is a kernel level driver that supports the USB to serial conversion. It appears as a Linux device file “/dev/ttyUSBx” (where x is enumerated) and emulates a standard PC serial port such that the USB device may be communicated with as a standard RS-232 device. NDI has provided a patch to the 2.6.8 kernel driver source files. These instructions are based on the Linux 2.6.8 kernel. The following changes are captured in the ftdi.patch file. In the directory /usr/src/linux-2.6.8-24/drivers/usb/serial:1. ftdi_sio.c - added NDI Host USB Converter Product ID (PID) to supported devices tables, added aliasing of 19.2K baud for the Host USB Converter to use 1.2Mbaud as required by NDI ToolBox.2. ftdi_sio.h - added the define for the USB PID for the Host USB Converter.Apply the patch to an unmodified kernel as follows:1. logon as root user.2. cd /usr/src/linux-2.6.8-24.3. patch -p1 < ftdi.patch.4. rebuild the kernel following the instructions specific to the kernel.5. the NDI Host USB Converter when connected will appear as "/dev/ttyUSBx", where 'x' is the part number.Host USB converters are interchangeable on the same USB port, without having to re-install drivers or losing the device file enumeration previously established.NDI ToolBoxInstall NDI ToolBox as follows:1. On the Polaris Vicra CD, browse to Linux/ToolBox/install.bin. 2. Follow the on-screen instructions to complete the process. The default installation location is <user_account>/ToolBox.3. The installation of NDI ToolBox also downloads the kernel patch file to apply to drivers for the Host USB Converter. The default download location is <user_account>/ToolBox/kernel-2.6.8-usb-patch.Note The NDI ToolBox download includes a Java virtual machine (VM) for Windows and Linux systems. The Java VM included in the NDI ToolBox download is fully compatible with NDI ToolBox. Other versions of Java VM may cause NDI ToolBox to exhibit unusual or unpredictable behaviour.
Setting Up the Polaris Vicra System24 Polaris Vicra User Guide - Revision 22.9 Keyed FeaturesIn addition to the base configuration, certain options are available as keyed features for the Polaris Vicra System. For example the ability to use multiple versions of firmware is a keyed feature. For information on current keyed features and how to purchase them, please contact your nearest NDI location. See Contact Information on page 4 for your nearest NDI location.Refer to NDI ToolBox application software online help for details on retrieving your current system configuration and for installing additional keyed features.
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 253 How the Polaris Vicra System Works3.1 IntroductionThis chapter provides details on how the Polaris Vicra System works. The information is not absolutely necessary in order to use the system, but it can help increase your technical understanding of the system. For information on how to use the system, refer to “Using the Polaris Vicra System” on page 41.3.2 Information Returned by the Polaris Vicra SystemDo not use the Polaris Vicra System for absolute measurements; the system is designed for relative measurements only. Treating measurements as absolute may result in an incorrect interpretation of results. If your application involves personal safety, these incorrect interpretations increase the possibility of personal injury.When the Polaris Vicra System is tracking tools, it returns information about those tools to the host computer. The system by default returns:•the position of each tool’s origin, given in mm, in the coordinate system of the Position Sensor (see “Global Coordinate System” on page 26)Note Transformations with respect to a reference tool (described on page 36), and transformations for a probe with a tool tip offset (described on page 35) are calculated using application software such as NDI ToolBox.•the orientation of each tool, given in quaternion format. The quaternion values are rounded off, so the returned values may not be normalized•an error value for each tool transformation. This RMS value, given in mm, is the result of the least squares minimization between the marker geometry in the tool definition file and the tool’s measured marker positions•the status of each tool, indicating whether the tool is out-of-volume, partially out-of-volume, or missing. It also indicates whether the port handle corresponding to each tool is enabled and initialized. For more information on port handles, see the “Polaris Application Program Interface Guide”•the frame number corresponding to each tool transformation•the system status, which includes some of the system errors described in “Tracking Errors and Flags” on page 49If requested, the system can also return:• tracking errors and flags (described in “Tracking Errors and Flags” on page 49). (Some tracking errors and flags are returned by default.• marker status information, such as whether a particular marker was used to calculate a tool transformationWarning!
How the Polaris Vicra System Works26 Polaris Vicra User Guide - Revision 2• transformations for tools that are outside of the characterized measurement volume• positions of stray passive markersNDI ToolBox displays most of this returned information (except for the port handle information). Note For information on the API commands used to request tracking information from the Polaris Vicra System, see the “Polaris Application Program Interface Guide”.3.3 Global Coordinate System and Measurement VolumeGlobal Coordinate SystemThe Polaris Vicra Position Sensor uses a coordinate system with an origin located at the Position Sensor and axes aligned as shown in Figure 3-1. This global coordinate system is defined during manufacturing and cannot be changed. Figure 3-1 Position Sensor Global Coordinate SystemDo not use the Polaris Vicra System for absolute measurements; the system is designed for relative measurements only. Treating measurements as absolute may result in an incorrect interpretation of results. If your application involves personal safety, these incorrect interpretations increase the possibility of personal injury.The Polaris Vicra System will report the transformations of tools in the global coordinate system. However, if you are using a reference tool, software can calculate and report transformations in the local coordinate system of the reference tool. For more information on reference tools, see “Reference Tool” on page 36.Field of View and Characterized Measurement VolumeThe field of view is the total volume in which the Polaris Vicra System can detect a marker, regardless of accuracy. -x-y-zOriginWarning!
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 27The characterized measurement volume is a subset of the field of view. It is the volume where data was collected and used to characterize the Polaris Vicra System Position Sensor. The dimensions of the characterized measurement volume are illustrated in Figure 3-2.Within the characterized measurement volume, the Polaris Vicra System can measure a single marker with an accuracy of 0.25 mm RMS. The accuracy of measurements reported outside the Polaris Vicra characterized measurement volume is unknown. The Polaris Vicra System is specifically designed to NOT report these measurements; however, you can request such information by applying additional API commands to application software. You enable this additional functionality at your own discretion. The Position Sensor’s performance is determined using the calibration methodology described in Appendix A on page 85.Figure 3-2 Characterized Measurement VolumeOut of Volume and Partially Out of VolumeA tool is flagged as out of volume if all of its markers are outside of the characterized measurement volume, but the system can still detect the tool.By default, the Polaris Vicra System reports tools with markers that are outside of the characterized measurement volume as MISSING. You can tell the Polaris Vicra System to report the 1336 mm557 mm491 mm887 mm392 mmTop ViewSide ViewFront View938 mm
How the Polaris Vicra System Works28 Polaris Vicra User Guide - Revision 2transformations of these tools using reply option 0x0800 with the BX or TX command. See the “Polaris Application Program Interface Guide” for details.A tool is flagged as partially out of volume if:• less than the minimum number of markers (a parameter in the tool definition file) are inside the characterized measurement volume, and • at least one marker on the tool is inside the characterized measurement volumeFor example, consider a five-marker tool, with three markers inside the characterized measurement volume and two markers outside the volume. If the minimum number of markers is set to 3, the tool is considered to be inside the volume. If the minimum number of markers is set to 4 or 5, the tool will be flagged as partially out of volume.3.4 Marker Detection and Tool TrackingDetecting MarkersThe Position Sensor detects active and passive markers using different methods. Active markers are triggered by a 20 Hz “chirp” signal emitted by the Position Sensor illuminators, which causes the active markers to emit IR for the integration time. (The chirp signal is only a trigger.)To detect passive markers, the Position Sensor’s illuminators flood the surrounding area with IR for the whole integration time by flashing at 20 Hz (similar to the flash on a camera). The passive sphere markers have a retro-reflective coating that reflects the IR directly back to the Position Sensor instead of scattering it.For both active and passive markers, the Position Sensor collects IR for a period of time called the integration time. This acts like an electronic shutter. The system makes automatic adjustments to the integration time so that the intensity of the brightest IR detected is set to a maximum value, and the intensity of all other IR detected falls below this value. This process is called dynamic range control.The system distinguishes between potential marker data and background IR using a value called the trigger level. The trigger level is the minimum IR intensity considered to be valid marker data. Background IR that falls below the trigger level is rejected by the Position Sensor. The trigger level generally increases with integration time; see “Setting the Infrared Light Sensitivity” on page 54 for more details.Acquiring and Tracking ToolsWhen the Polaris Vicra System first begins tracking a tool, or whenever a tool goes missing, it must “acquire” the tool. (For information on why a tool goes missing, see “Missing and Disabled Transformations” on page 48.) To acquire tools, the Polaris Vicra System first measures the positions of all the visible markers.IR light hits the Charge Coupled Devices (CCDs) in the Position Sensor. If the system is unable to detect individual IR sources, or has detected more IR sources than it can process, it will report an error, see “Tracking Errors and Flags” on page 49. Otherwise, the system will calculate the position of the IR sources.
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 29To determine the position of an IR source, the Position Sensor calculates a line between the source of IR and each sensor (displayed as dotted lines in Figure 3-3). Where the lines cross each other, the Polaris Vicra System calculates the line separation. (The distance between the lines.) (In a theoretical case the lines will intersect exactly, but in the modelled “real world” case they will be apart.) If the line separation at this point is less than a predefined limit, the Polaris Vicra System considers the point to be a possible marker position. Otherwise, the point is discarded.Figure 3-3 Determining a Marker PositionOnce the system has measured the positions of all the markers, it calculates the segment length (the distance between two markers) for each pair of markers, and the angle between each segment. It compares this data with the marker geometry data in each tool definition file (described on page 31), to determine which markers belong to which tool. The unique geometry requirements, described in the “Polaris Tool Design Guide”, allow the Polaris Vicra System to distinguish between tools. Any markers that are not part of a tool are considered stray markers (this may include phantom markers). See “Stray Marker Reporting” on page 37 for more details on stray markers and phantom markers.The Polaris Vicra System has “acquired” a tool once it has matched the minimum number of markers (a parameter in the tool definition file) for the tool and can calculate a transformation for the tool. Once a tool has been acquired, the Position Sensor tracks it using a predictive algorithm. Three Marker Lock OnIf the “3 marker lock on” option is enabled in the tool definition file, the Polaris Vicra System will acquire and track the tool as long as it can detect at least three markers. The system will not report the transformations unless the minimum number of markers is used to calculate the transformation.For example, consider a four-marker tool with the “3 marker lock on” option enabled. If the system can only detect three of the markers on the tool, it will continue to track that tool but will only report transformations if the minimum number of markers is set to 3. If the minimum number of markers is set to 4, the system will continue to track the tool in the background, but will report the tool as MISSING. Selecting 3 marker lock on in this case will result in the tool transformations being reported faster, once the minimum number of markers becomes visible, because the system does not have to spend time re-acquiring the tool.Note For more details on the “3 marker lock on” option, see the “Polaris Tool Design Guide”.Marker
How the Polaris Vicra System Works30 Polaris Vicra User Guide - Revision 23.5 Polaris Vicra System ToolsDo not use a wireless tool whose design does not conform to the Polaris Vicra System's unique geometry constraints. When a Polaris Vicra System attempts to track more than one wireless tool in the measurement volume, these unique geometry constraints ensure that they are distinguishable from each other. Reliance on data produced by two indistinguishable tools can lead to inaccurate conclusions. If your application involves personal safety, these inaccurate conclusions increase the possibility of personal injury. Tools used with the Polaris Vicra System are wireless, and incorporate either active or passive markers. The system can track up to six tools at a time. The Position Sensor tracks tools based on marker geometry, which is specified in the tool definition file for each tool. A tool definition file must be loaded before the Polaris Vicra System can track its associated tool. For more information on tool definition files, see “Tool Definition File” on page 31.Tools are available from NDI for use with the Polaris Vicra System. Contact NDI for more details.Tool CharacteristicsTools used with the Polaris Vicra System have the following characteristics:• A 5DOF (five degrees of freedom) tool has between three and six markers. All the markers on a 5DOF tool are collinear. The Polaris Vicra System will report the 3D position and 2D orientation of a 5DOF tool.• A 6DOF (six degrees of freedom) tool has between three and six markers that are not collinear. The Polaris Vicra System will report the 3D position and 3D orientation of a 6DOF tool.• The geometry of each tool must follow the unique geometry constraints. Tools must have different marker geometries from one another, so the Position Sensor can distinguish between them. A marker geometry that is the mirror image of another tool’s marker geometry is not considered unique. For more details on unique geometry constraints and marker geometry, see the “Polaris Tool Design Guide”.• A multi-faced tool (which is also 6DOF) can have up to six faces, totalling a maximum of 20 markers. Each face on a tool is treated as a separate rigid body which complies with the following constraints:• It has a maximum of eight markers• It complies with the unique geometry constraints• It has a different marker geometry from the other faces on the tool.• Each tool has its own local coordinate system This is defined during the tool characterization process, and is often dependent on the tool’s intended use.Multi-Faced Tool TrackingWhen the Polaris Vicra System is tracking a multi-faced tool, it tracks only one face at a time. The face being tracked is returned with reply option 0x0002 of the BX and TX commands, and is reported in NDI ToolBox (see the online help in NDI ToolBox for more details).Warning!
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 31Each face is assigned a face normal in the tool definition file (described on page 31). The face normal is a vector pointing in the same direction as the tool face, to let the Polaris Vicra System know the direction each tool face is facing. The system will track the face most directly oriented to the Position Sensor (i.e. the face with the smallest angle between the face normal and the sensors in the Position Sensor). If the minimum number of markers are not visible on the face most directly oriented to the Position Sensor, the system will attempt to track another face.The system has a hysteresis of 2° when determining whether to switch faces. The system will determine the angle between the sensors and each face of the tool. If the face with the smallest angle is 2° smaller than the current face’s angle, the system will switch to the new face.3.6 Tool Definition FileA tool definition file (formatted as .rom) describes a tool to the Position Sensor. The information stored in the tool definition file includes the geometry of the tool's markers, the tool’s manufacturing data, information on marker and face normals, groups and faces definitions, and the parameters used to track tools. For more information on the parameters used to track tools, see Tool Tracking Parameters below.A tool definition file must be loaded into the system (by the host computer) before the Polaris Vicra System can track its associated tool. If the Polaris Vicra System is measuring the positions of stray markers (described in “Stray Marker Reporting” on page 37), at least one tool definition file must be loaded in order for the Position Sensor illuminators to emit IR light.Tool definition files can be created in NDI 6D Architect. The procedure used to create a tool definition file is called tool characterization. For more information on tool characterization, see the “Polaris Tool Design Guide” and the “NDI 6D Architect User Guide”.3.7 Tool Tracking ParametersThe following tool tracking parameters are specified in the tool definition file (described on page 31).The flow chart on page 34 describes how the Polaris Vicra System uses the tool tracking parameters to determine which markers to use to calculate a tool transformation, and when to return a transformation.For information on how to change the tool tracking parameters and what values to use, see the “Polaris Tool Design Guide” and the “NDI 6D Architect User Guide”.Maximum 3D ErrorThe maximum 3D error parameter specifies the maximum allowable 3D error for each marker on the tool. The maximum 3D error is the difference between the measured and expected location of a marker on a tool. The expected location of a marker on a tool is specified in the tool definition file (described on page 31). If the 3D error for a particular marker is greater than the specified maximum 3D error value, the data from that marker will be not be used to determine the tool transformation.
How the Polaris Vicra System Works32 Polaris Vicra User Guide - Revision 2Maximum Marker AngleThe maximum marker angle parameter specifies the maximum allowable angle between a marker and each sensor on the Position Sensor. The default maximum marker angle for passive sphere markers is 90º and for active markers it is 60°. Each marker has an associated normal vector, which is defined in the tool definition file. A marker normal is a vector of length 1, and points in the same direction as the marker, as illustrated in Figure 3-4.Figure 3-4 Marker With Marker NormalThe Polaris Vicra System uses the marker normal to determine whether the maximum marker angle has been exceeded. The system measures the angle between the marker normal and each sensor, in both the Position Sensor’s xy- and yz-planes. (The Position Sensor’s coordinate system is described in “Global Coordinate System” on page 26.) The Position Sensor then compares these measured angles to the maximum marker angle, as illustrated in Figure 3-5.Figure 3-5 Maximum Marker AngleIf the angle between a marker normal and a sensor is greater than the specified maximum marker angle, the data from that marker will be not be used to determine the tool transformation.The further a marker is from the Position Sensor, the smaller the angle it can be turned and still be within the maximum marker angle.Minimum Number of MarkersThe minimum number of markers parameter specifies the minimum number of markers that the Position Sensor must use in the calculation of a tool transformation in order to return the Marker NormalPassive Sphere MarkerNDI Mounting PostMarker NormalMarker NormalMax Marker AngleMax Marker Angle Max Marker AngleMax Marker AngleThe angle between the marker normal and the left sensor is greater than the maximum marker angle.The angle between the marker normal and each sensor is less than themaximum marker angle.
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 33transformation. If fewer markers than the minimum number of markers are used in the calculations, then the tool will be reported as MISSING.For example, consider a four-marker tool that has three markers inside the characterized measurement volume, and one marker outside of the characterized measurement volume. If the minimum number of markers parameter is set to 3, the Polaris Vicra System will report transformations for the tool (as long as the other tool tracking parameters are satisfied). If the minimum number of markers parameter is set to 4, the Polaris Vicra System will report the tool as MISSING. Note You can tell the Polaris Vicra System to report the positions of tools that have less than the minimum number of markers inside the characterized measurement volume by using reply option 0x0800 with the TX or BX command. This may reduce the accuracy of the transformations. See the “Polaris Application Program Interface Guide” for details.Minimum SpreadThe minimum spread parameters specify the minimum size 3D box that must contain all the markers used in the calculation of a tool transformation. The length, width, and height of this box must be greater than the specified Minimum Spread 1, Minimum Spread 2 and Minimum Spread 3 parameters, respectively, or else the system will not return a transformation.This setting is optional. For more details on the minimum spread parameter, see the “Polaris Tool Design Guide”.
How the Polaris Vicra System Works34 Polaris Vicra User Guide - Revision 2Figure 3-6 Flowchart of Tool Tracking Parameters UseFlash illuminators onPosition SensorMeasure positions ofmarkersCalculate tooltransformation using atleast 3 markersAre allmarkers within themax. markerangle?Ignore markers that are outsideof the max. marker angle &calculate tool transformationusing at least 3 markersAreall markersinside the characterizedmeasurementvolume?Can thesystem calculate atool transformation withoutthe out-of-volumemarkers?Is reply option0x0800 used with BX or TXcommand?Ignore the out-of-volumemarkers &calculate tool transformationusing at least 3 markersWerethe min. number ofmarkers used to calculatea transformation?Are all markerswithin the max.3D error?Are the spreadparameters satisfied?Ignore markers that are greater thanthe max. 3D error&Calculate tool transformation using atleast the min. number of markers.Return tool transformation &status and error information Return MISSING &status and error informationyesnoyesyesyesyesyesno noyesnononono
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 353.8 Tool Tip OffsetDo not use a tool with a tip without first performing a pivot procedure to verify the tip offset. Reliance on data produced by a tool with an inaccurate tip offset may lead to inaccurate conclusions. If your application involves personal safety, these inaccurate conclusions increase the possibility of personal injury.The origin of a tool is defined as part of the tool’s local coordinate system in the tool definition file. When the Position Sensor tracks a tool, it reports the transformations of the origin of the tool. In certain circumstances, it is useful to track a point on the tool other than the tool’s origin. In particular, it is useful to track the location of the tip of a probe. It is possible to define the tool’s origin at the tip of the probe; however, if the tool is later bent, the origin will no longer be located at the tip.NDI recommends determining the tool tip offset of the tool, prior to each use. The tool tip offset is the vector between the tip of the tool and the origin of the tool. Application software can apply the tool transformations reported by the Polaris Vicra System to the tool tip offset, in order to determine the location of the tool tip.Note The Polaris Vicra System always tracks the origin of the tool. It is the application software, not the Polaris Vicra System, that calculates the location of the tool tip.Determining the tool tip offset prior to each use ensures that the location of the tool tip is known as accurately as possible.The tool tip offset can be determined either by using a calibrator, or by performing a pivoting procedure.Using a CalibratorA calibrator is a rigid body that incorporates three or more markers and a clamping mechanism. The clamping mechanism allows another tool (usually a probe) to be clamped into place. An example of a calibrator is illustrated in Figure 3-7. To use a calibrator to determine the tool tip offset of a probe, clamp the probe in place on the calibrator. The origin of the calibrator is defined at the point where the tool tip will rest. The Polaris Vicra System can then measure the positions of the probe’s origin and the calibrator’s origin. The application software compares these measurements to determine the tool tip offset of the probe.Warning!
How the Polaris Vicra System Works36 Polaris Vicra User Guide - Revision 2Figure 3-7 Sample CalibratorPivotingYou can also determine the tool tip offset using a process called pivoting, using either NDI ToolBox or NDI 6D Architect software. During the pivoting procedure, the Polaris Vicra System will measure the positions of the markers while you pivot the tool. The software collects this data, and uses it to determine the tool tip offset. Instructions on how to pivot a tool are detailed in “Determining the Tool Tip Offset” on page 45. In addition the procedure is also detailed in the “NDI 6D Architect User Guide” and online help, and in the NDI ToolBox online help.3.9 Reference ToolA reference tool is a tool whose local coordinate system is used as the global coordinate system in which other tools are tracked. The Polaris Vicra System tracks all the tools, including the reference tool, and reports the transformations in the coordinate system of the Position Sensor (described on page 26). Software (such as NDI ToolBox) then calculates and reports the positions and orientations of all other tools with respect to the position and orientation of the reference tool.Note Use a reference tool to ensure minimal drift in the measurements produced; specifically, drift caused by time, settling and/or temperature.It is the application software, not the Polaris Vicra System, that calculates the tool transformations with respect to the reference tool.For example, in neurosurgery the reference tool can be attached to the patient’s head. Then a registration procedure is performed that defines the reference tool’s position relative to the patient’s head. From then on, if either the patient’s head or the Position Sensor shifts, the measurements are ProbeCalibratorClamp Probe in PlacePlace Tool Tip at Origin of Calibrator
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 37not affected since they are reported with respect to the patient’s head (the reference tool) and not with respect to the Position Sensor.If the Polaris Vicra cannot track the reference tool (for example, if the reference tool is occluded), then the software will not be able to calculate the transformations of other tools with respect to the reference tool.3.10 Stray Marker ReportingA stray marker is a marker that is not part of a rigid body. For example, by placing stray markers on a patient’s chest, the markers may be used to gate/track the patient’s breathing in order to time radiation therapy.If the stray marker reporting functionality is enabled, the Polaris Vicra System will report tool transformations, as well as 3D data (position only, no orientation information) for up to 50 markers that are not used in tool transformations (including phantom markers, described below). It is then necessary to eliminate phantom markers within the application software, and verify that the stray markers are within the characterized measurement volume. It is important to be aware of the potential hazards associated with using the stray marker reporting functionality. The hazards are as follows:• An external IR source, for example, an IR transmitter or incandescent light, may be identified as a stray marker. The position of a stray marker may be incorrectly identified and return incorrect data. • No marker identification is possible from frame to frame. It is therefore the user’s responsibility to devise a method to keep track of which 3D position belongs to which marker in which they are interested.• A stray marker does not have any angular position to know if marker normals are being exceeded. • There are no built in checks to determine if the 3D result is a real marker or a phantom marker, generated by other IR sources or markers in view of the Position Sensor. The system tries to reject markers by the use of the line separation qualifier, but if several markers are in a line parallel to the horizontal plane of the Position Sensor, phantom markers may still be generated that are within the line separation qualifier. • Partial occlusion cannot be detected, or compensated for. The partial occlusion is not detected by the Position Sensor, but the user may be able to detect the apparent shift if the marker position can be constrained in the application software. For example, the marker position has to be constrained along a vector and its position relative to another marker is supposed to be fixed within some tolerance. To enable the stray marker reporting functionality, use the 0x1000 reply option with the BX or TX command. This reply option returns out-of-volume information along with the 3D data. See the “Polaris Application Program Interface Guide” for details.In order for the Position Sensor to measure stray markers, a tool definition file must be loaded, and the associated port handle must be initialized and enabled, even if no tools are being tracked. The Position Sensor illuminators emit IR light only when a tool definition file is loaded.
How the Polaris Vicra System Works38 Polaris Vicra User Guide - Revision 23.11 Phantom MarkersPhantom markers are the result of the calculation that the Polaris Vicra System uses to determine the position of a source of IR. They appear, and are reported as, markers but they do not actually exist; they are phantom markers.To determine the position of a source of IR, the Position Sensor calculates a line between the source of IR and each sensor (displayed as dotted lines in Figure 3-8). Where the lines cross each other, the Polaris Vicra System calculates the line separation (the distance between the lines). If the line separation at this point is less than a predefined limit, the Polaris Vicra System considers the point to be a possible marker position.Phantom markers are reported when the imaginary lines calculated from the sensors intersect in more than one place with a line separation less than a predefined limit. This generally occurs when two or more markers are in the same plane as the sensors. For example, in the case of two coplanar markers, there will be four mathematical solutions, as illustrated in Figure 3-8. Two are the actual marker locations and two are the phantom marker locations. One phantom marker will usually be closer to the Position Sensor than the actual markers and the other phantom marker will be farther away from the Position Sensor than the actual markers. The number of phantom markers increases with the number of coplanar markers. When there are n coplanar markers, there will be up to n • (n - 1) phantom markers.Figure 3-8 Phantom MarkersWhen the stray marker reporting functionality is not enabled, the Polaris Vicra System can eliminate phantom marker solutions. The system matches the marker position solutions to the known marker geometry of the tools, as described in “Marker Detection and Tool Tracking” on page 28. The unused solutions are phantom markers, reflections, or other IR sources, and are not reported by the system.When the stray marker reporting functionality is enabled, it is necessary to eliminate the reported phantom markers using application software.3.12 Passive Sphere MarkersNDI passive sphere markers have a retro-reflective coating that reflects IR light back to its source instead of scattering it. The IR light from the Position Sensor illuminators reflects off the passive markers directly back to the sensors.The Polaris Vicra System can report the positions of passive markers individually, and calculate the position and orientation of tools that incorporate them. The measured position is the centre of the marker. When a passive sphere marker is attached to an NDI mounting post, the centre of the sphere is located at the top of the mounting post.Phantom MarkersReal Markers
How the Polaris Vicra System WorksPolaris Vicra User Guide - Revision 2 39The passive markers can only be sterilized one time. NDI does not recommend that a passive marker be used if it has been sterilized more than once, as multiple cycles of sterilization may adversely affect the marker's performance. Testing has shown that there is no significant degradation in the performance of these markers after one cycle of ETO, STERRAD 100S, or STERIS SYSTEM 1 sterilization. The passive markers cannot be autoclaved. Pre-sterilized passive sphere markers are also available; contact NDI for details.Do not use markers without inspecting them for cleanliness and damage both before and during a procedure. Reliance on data produced by unclean or damaged markers may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury.Caution! Do not handle the passive sphere markers with bare hands as this will leave residue from skin that affects the marker's reflectivity. Take care not to drop or scuff the markers, as this also affects the reflectivity of the markers.3.13 Active MarkersActive markers are physically smaller than passive sphere markers. They consist of an Infrared Light Emitting Diode (IRED) mounted on a ceramic base. The Position Sensor codes (“chirps”) the IR pulses emitted from its illuminators. These coded IR pulses are received by the IR receiver on the tool which then activates the IREDs. The Position Sensor receives the IR emitted by the IREDs and processes it in the same manner as passive tool reflections. Active markers are mounted in active wireless tools. The ceramic base allows them to be sterilised by auto-claving as required. The power for active wireless tools is supplied by battery. For detailed information on active markers and active wireless tools, refer to the “Polaris Tool Design Guide”. 3.14 Filter Spectral ResponseThe lenses on the Position Sensor filter out visible light, allowing only certain amounts of light at specific frequencies to pass through to the CCDs. The CCDs are sensitive only to light below certain frequencies. The result is a band pass filter from 800 nm to 1100 nm. Environmental light in this range can affect the performance of the Polaris Vicra System. The more intense the environmental light in this range, the higher the probability that it will interfere with the system.Note It is important to reduce environmental IR, to prevent interference with the system. Some operating room lights may emit IR.The amount of light at various frequencies that passes through the lenses to the CCDs, and then is detected by the CCDs, as illustrated in Figure 3-9.Warning!
How the Polaris Vicra System Works40 Polaris Vicra User Guide - Revision 2Figure 3-9 Filter Spectral Response3.15 Data Transmission RateThe Polaris Vicra System can achieve an internal tool transformation update rate of 20 Hz. The host update rate (the rate at which the host computer receives data) is dependent on the following factors:Baud Rate The baud rate specifies how fast data is transferred from the system to the host computer. At lower baud rates, the host computer may not receive tool transformations at 20 Hz.API command reply length The more data the system must return with every transformation, the slower the host update rate. The amount of data returned with each transformation increases as you track more tools and select more options.Application speed The host transmission rate can vary according to how often the application asks for data, and how often the graphical user interface (in particular, graphics) need to be updated.3.16 Serial Port EmulationThe Host USB Converter emulates a standard PC serial port, such that the host application may communicate with the Polaris Vicra System as if it was a standard RS-232 device. A feature of this is that the following modem status bits are used as follows:• The Data Set Ready (DSR) will be set when the Host USB Converter senses that a Position Sensor is connected (power must also be connected to the Host USB converter).• The Ring Indicator (RI) will be set when a fault condition is showing on the Host USB Converter error indicator. If your operating system cannot set the serial port rate directly to 1.2 Mbaud, an aliased 19200 baud rate is provided to enable you to run at the higher speed. Do not use the COMM API command’s baud rate selection of “2” (in this case COMM 2xxxx) but instead use a selection of “7” (COMM 7xxxx).800 nm 880 nm 1100 nm90 %Light WavelengthAmount of LightAmount of Light Passing Through Lenses to CCDsAmount of Light Detected by CCDs
Using the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 414 Using the Polaris Vicra SystemThis chapter is intended as a tutorial to demonstrate the basic functionality of the Polaris Vicra System using NDI ToolBox. The tutorial is designed for first time users of the system to:• set up the system to track tools• observe error and information flags while tracking tools• track using a reference tool• pivot a tool to determine the tool tip offsetFor more detailed information on NDI ToolBox, refer to the NDI ToolBox online help.4.1 Getting Started: Tracking ToolsThis section describes how to set the system up to track tools.To Set Up the System1. Set up and connect the hardware, as described in “Connecting the Hardware” on page 19.2. Install the drivers for the Host USB Converter, as described in “Installing the USB Drivers (Windows)” on page 21.3. Open NDI ToolBox.4. If NDI ToolBox does not automatically connect to the system, select File > Connect to > (COMx) (For further details on installing the software, refer to “Installing the Software” on page 20.)To Track ToolsIn NDI ToolBox:1. If the tool tracking utility is not open, click to open it.2. Click to load the tool definition files for the tools you want to track.3. In the dialog that appears, browse to the desired tool definition file(s). Hold down Ctrl and click to select more than one file.4. Click Open. Once a tool definition file has been loaded, the Polaris Vicra System will automatically attempt to track the tool.5. Move the tool throughout the characterized measurement volume, making sure the markers on the tool face the Position Sensor.
Using the Polaris Vicra System42 Polaris Vicra User Guide - Revision 2As you move the tool, the symbol representing the tool in the graphical representation will move to reflect the tool’s position.4.2 Information and Error FlagsThis section describes how to trigger some of the most common flags. Tracking errors, warnings, and marker information for each tool are displayed in the bottom right section of the tool tracking utility.To View Information and Error Flags1. Set up the system to track tools, as described in “Getting Started: Tracking Tools” on page 41.2. For each loaded tool definition file, there is a tab in the bottom right section of the tool tracking utility. Select a tab to display tracking information for a particular tool.Figure 4-1 Tool Tracking Window“Partially Out of Volume” and “Out of Volume” flags:Move the tool to the edge of the characterized measurement volume. As you move the tool to the edge of the volume (some markers are in the volume and some out), NDI ToolBox will display the message “Partially Out of Volume.” Once the tool is completely outside of the volume (all markers are outside the volume), NDI ToolBox will display the message “Out of Volume.”Select a tab to display tracking information for a particular tool
Using the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 43Figure 4-2 Partially Out of Volume Flag“Too Few Markers” flag:1. Position the tool inside the characterized measurement volume, with the markers facing the Position Sensor. 2. Cover one or more markers, without touching them. The Position Sensor will no longer be able to detect the covered markers. Figure 4-3 Markers Information Pane - Missing MarkerIf the Position Sensor cannot detect the minimum number of markers, NDI ToolBox will display the message “Too Few Markers” and will not report a transformation.Figure 4-4 Transformation Pane - Too Few Markers“Exceeded Maximum Marker Angle” flag:1. Position the tool inside the characterized measurement volume, with the markers facing the Position Sensor.2. Turn the tool gradually until the markers are no longer facing the Position Sensor. Once a marker has exceeded the maximum marker angle, NDI ToolBox will display a blue indicator in the Not Used section of the marker information.
Using the Polaris Vicra System44 Polaris Vicra User Guide - Revision 2Figure 4-5 Markers Information Pane - Exceeded Max Marker Angle4.3 Setting a Tool as ReferenceThis section describes how to set a tool as reference. When you set a tool as reference, all the other tools will be tracked with respect to the reference tool.To Set a Tool as Reference1. Set up the system to track tools, as described in “Getting Started: Tracking Tools” on page 41.2. Click to load tool definition files for at least two tools.3. For each loaded tool definition file, there is a tab in the bottom right section of the tool tracking utility. Select the tab corresponding to the tool you want to set as reference.Figure 4-6 Selecting a Reference Tool4. Right click on the tool tab, then select Global Reference.The reference tool will appear as a square in the graphical display. The other tools will be displayed inside a square, that is the colour of the reference tool. The positions and orientations of other tools will now be reported in the local coordinate system of the reference tool.Select the tab for the tool you want to set as reference.
Using the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 45Note The Polaris Vicra System still calculates the tool transformations in the coordinate system of the Position Sensor. The NDI ToolBox software then calculates and reports the tool transformations with respect to the reference tool.4.4 Determining the Tool Tip OffsetThis section describes how to determine the tool tip offset of a probe or pointer tool by pivoting. Once NDI ToolBox has calculated the tool tip offset, it can report the position of the tip of the tool, instead of the position of the origin of the tool. See “Tool Tip Offset” on page 35 for more details.To Set Up the System to PivotYou will need a divot in which to rest the tool tip while you pivot the tool. The size and shape of the divot must match the tool tip, to ensure that the tip does not move. For example, a probe with a 1 mm ball tip requires a hemispherical divot with a 1 mm diameter in which to pivot. 1. Set up the system to track tools, as described in “Getting Started: Tracking Tools” on page 41.2. Click to load a tool definition file for the probe or pointer tool.3. For each loaded tool definition file, there is a tab in the bottom right section of the tool tracking utility. Select the tab corresponding to the tool you want to pivot.Reference Tool
Using the Polaris Vicra System46 Polaris Vicra User Guide - Revision 2Figure 4-7 Selecting a Tool to Pivot4. Click to open the Pivot dialog.5. Select a start delay of about 5 seconds and a duration of about 20 seconds.To Pivot the Tool1. Place the tool tip in the divot.2. Ensure that the tool is within the characterized measurement volume, and will remain within the volume throughout the pivoting procedure.3. Click Start Collection in the Pivot tool dialog.4. Pivot the tool in a cone shape, at an angle of 30º to 60º from the vertical.a) Keep the tool tip stationary, and ensure that there is a line of sight between the markers on the tool and the Position Sensor throughout the pivoting procedure.b) Pivot the tool slowly until the specified pivot duration time has elapsed.
Using the Polaris Vicra SystemPolaris Vicra User Guide - Revision 2 47Figure 4-8 Pivoting TechniqueWhen the pivot is complete, the Pivot Result dialog appears. Click Apply Offset to report the position of the tip of the tool.Figure 4-9 Pivot Result DialogDivot30° to 60°
Error Flags and Codes48 Polaris Vicra User Guide - Revision 25 Error Flags and CodesThis chapter lists error flags that the Polaris Vicra System may return, and what each one means. It also lists the LED and audio indications output by the Position Sensor.5.1 Missing and Disabled TransformationsNormally, the Polaris Vicra System reports a position, orientation, and error value for every transformation. If the system cannot return a transformation, it will report the tool as MISSING or DISABLED.Missing TransformationsThe system reports a tool as MISSING if it cannot calculate a transformation for the tool. The system may be unable to calculate a transformation if:• the system cannot detect the minimum number of markers• less than the minimum number of markers are inside the characterized measurement volume. By default, the Polaris Vicra System only reports the transformation of markers and tools inside the characterized measurement volume. You can tell the Polaris Vicra System to report the positions of markers outside the characterized measurement volume, using reply option 0x0800 with the TX or BX command. See the “Polaris Application Program Interface Guide” for details. See “Tool Tracking Parameters” on page 31 for a description of this parameter.• less than the minimum number of markers are within the maximum marker angle or the maximum 3D error• the spread parameters are not satisfied• there is a system error (described on page 49)Disabled TransformationsThe system reports a tool as DISABLED if the port handle corresponding to the tool was not enabled, has been disabled, or is unoccupied. A port handle is unoccupied if it has been allocated, but you have not yet associated a tool definition file with that port handle. See the “Polaris Application Program Interface Guide” for more details on port handles.
Error Flags and CodesPolaris Vicra User Guide - Revision 2 495.2 Tracking Errors and FlagsMany of the following errors and flags are displayed in NDI ToolBox. They are all returned with the TX and BX commands (using reply options 0x0001 and 0x0002).System status flagsSystem Communication Synchronization Error indicates communication problems between internal sub-components of the system.Diagnostic Pending Indicates a change in any of the alerts flags. The flag is persistent until the alerts parameter are read. Reading the alerts parameter automatically clears the flag. By default transformation data is not returned when this flag is set.Temperature System is out of specified operating temperature range or not yet warmed up. By default transformation data is not returned when this flag is set. The flag will automatically be cleared as soon as the system is back in the specified operating temperature range.Port status flagsOut of Volume The out of volume flag is set for a marker or tool that is completely outside of the characterized measurement volume, but can still be detected by the system. The flag is set regardless of whether the reply option 0x0800 for the TX or BX command is used. (Reply option 0x0800 enables the reporting of the positions of tools and markers that are outside of the characterized measurement volume. See the “Polaris Application Program Interface Guide” for details.)Partially Out of Volume The partially out of volume flag is set for a tool if less than the minimum number of markers are inside the characterized measurement volume, and at least one marker on the tool is inside the characterized measurement volume. See “Tool Tracking Parameters” on page 31 for a description of the minimum number of markers parameter.Algorithm Limitations Indicates that during parts of the algorithm used for 2D/3D/6D calculations a limitation has been detected (for example buffer full). This does not mean that an error occurred or that the tools will not track properly.If the flag is transient, i.e. it comes on for only a few frames during the beginning of tracking or during a disruption of the scene (blocking/unblocking), no actions need to be taken.If the flag persists and the tool does not track, changing the scene (removing tools and/or markers) or simply re-arranging the scene should resolve the problem.IR Interference Indicates that one of the sensors has detected an object that is bright enough to be considered a marker but is too large. (For example, this flag can be triggered by two passive sphere markers being close together.) This may not affect tracking in which case it can be ignored. If one or more tools do not track and the flag persists the scene should be examined for the root cause of the flag (for example by taking a video capture with NDI ToolBox).Processing Exception Indicates that an exception has been detected in the firmware. Transformation data will be invalid as long as the flag persists. The system may self-recover from this condition, depending on the scene. The flag typically comes on when the system is overloaded, ie it cannot handle the scene. Remove some tools and/or markers from the scene to prevent this flag from being triggered.
Error Flags and Codes50 Polaris Vicra User Guide - Revision 2Fell Behind While Processing Indicates that the system cannot keep up with processing the data. This flag comes on when the system is overloaded. Remove some tools and/or markers from the scene to prevent this flag from being triggered. Data Buffer Limitations The systems' internal data buffers cannot hold all incoming data. This flag comes on when the scene is overloaded or, in rare cases, if the scene is arranged in an unfavourable way (many markers lined up in a horizontal line).Re-arranging the scene or removing tools/markers will remove this flag.Note This flag is different from "Algorithm limitations" as "Data buffer limitations" means that real raw data is lost. In the case of the "Algorithm limitations" flag the system has all raw data, but does not have enough buffer to process it. Both flags are very scene dependent and are independent of each other, however both typically only come on in heavily loaded scenes.Tool information flagsBad Transformation Fit Indicates that although enough markers are visible, the tool transformation could not be calculated due to fit constraints.Not Enough Acceptable Markers for Transformation The system does not have enough "good" markers to calculate a transformation for this tool.IR Interference This flag is a combination of the "IR interference" and "Data buffer limitation" flags in the port status flags. It is kept for backward compatibility with Polaris. NDI recommends that instead you use the port status flags.Fell Behind While Processing This is a copy of the flag "Fell behind while processing" in the port status flags. It is kept for backward compatibility with Polaris. NDI recommends that instead you use the port status flags.Processing exception This is a copy of the flag "Processing exception" in the port status flags. It is kept for backward compatibility with Polaris. NDI recommends that instead you use the port status flags.Marker InformationThe marker information returned with option 0x0002 of the TX and BX commands are 4-bit numbers that indicate if and how a marker was used in the tool transformation or, if it was not used, it provides an indication why it was rejected for the tool transformation. For a detailed explanation of the marker information see the “Polaris API Guide” (TX and BX commands).Note If option 0x0008 (3D position of markers on tools) is used, NDI recommends that you use the 3D information only in combination with the marker information reported in option 0x0002. Option 0x0008 will report all markers associated with a tool, regardless of individual marker status. The marker information can provide further indication about the "quality" of the reported 3D position.
Error Flags and CodesPolaris Vicra User Guide - Revision 2 515.3 Polaris Vicra System LEDs and Audio CodesThe Polaris Vicra System components are equipped with LEDs and audio codes to communicate the system status.Position Sensor LEDs •Power LED : Flashes green during system warm-up. Steady green when system is ready for use. •Status LED : Steady green when the communications connection is available.•Error LED : Lights steady amber if a critical error is detected (Position Sensor must be returned to NDI). Flashes amber if a non-critical error is detected (for example, a firmware update is not completed).Note If a non-critical error is detected (error LED is flashing), refer to the NDI ToolBox application to further diagnose the fault. (The nature of the error is described on the NDI ToolBox initial page.) If you are using your own applications, use the GET command to read the “Info.StatusAlert” parameter to check the alert status. Refer to the “Polaris Application Program Interface Guide” for further information.Position Sensor Audio CodesTwo tones are emitted by the Position Sensor after it has been powered up or reset and has completed initialization. You can disable this feature using the NDI ToolBox software.If the host computer does not send a command to the system within a given time, the Position Sensor will emit two quick tones every three seconds. (This feature is an application watchdog and is set by the API command HWCDOG.)Host USB Converter LEDs•Power : Lights green when power is being supplied to the Host USB Converter.•Error : Lights amber when the Host USB Converter has detected a fault.
Maintenance52 Polaris Vicra User Guide - Revision 26 MaintenanceUser maintenance of the Polaris Vicra System is limited to the following procedures:1. Cleaning the Position Sensor2. Care of cables and connectorsThe Position Sensor is the only system unit that requires special consideration. The power adapter and Host USB Converter can be cleaned by following standard procedures. Maintenance WarningsBefore doing any maintenance on the Polaris Vicra System, read the following warnings:1. All user maintenance must be done by appropriately trained personnel. Individual components of the Polaris Vicra System contain no user-serviceable parts. Maintenance by untrained personnel may present an electric shock hazard.2. Do not use the Position Sensor without inspecting it for cleanliness and damage both before and during a procedure. Reliance on data provided by an unclean or damaged Position Sensor may lead to inaccurate conclusions. If your application involves personal safety, inaccurate conclusions increase the possibility of personal injury. 3. Do not immerse any part of the Polaris Vicra System or allow fluid to enter the equipment. If fluids enter any part of the system they may damage it and present a risk of personal injury.4. Do not sterilize the Polaris Vicra Position Sensor as this may cause irreversible damage to its components. Reliance on data provided by a damaged Position Sensor may lead to inaccurate conclusions. If your application involves personal safety, these inaccurate conclusions increase the possibility of personal injury.6.1 Position SensorRegularly inspect the Position Sensor for cleanliness. The Position Sensor and particularly the illuminator filters and lenses, should be cleaned only when necessary. The frequency of cleaning must be determined by the user. This may include “in-use” cleaning.Caution! Use only 70% isopropanol and a lens cleaning solution formulated for multi-coated lenses (for example, AR66) to clean the Position Sensor. Other fluids may cause damage to the illuminator filters. Do not use any paper products for cleaning. Paper products may cause scratches on the illuminator filters.To clean the Position Sensor, follow the procedure detailed below:1. Remove dust from each illuminator filter and lens, using a photographic lens duster (brush). Gently wipe the surface in one direction only, by pulling the brush across the surface.2. Gently wipe the illuminator filters and lenses with disinfectant wipes containing 70% isopropanol. Continue cleaning the remainder of the Position Sensor, taking care not to wipe Warning!
MaintenancePolaris Vicra User Guide - Revision 2 53debris from the Position Sensor case onto the illuminator filters or lenses. Avoid prolonged contact between the wipes and the Position Sensor.3. Clean the illuminator filters and lenses, using a commercial lens cleaning solution formulated for multi-coated lenses (for example, AR66) and a clean knitted microfibre optical cleaning cloth (for example, Hitecloth). Avoid prolonged contact between the lens cleaner and the illuminator filters and lenses. 6.2 Cables and ConnectorsTo avoid damage to cables, make sure the cables are not bent at sharp angles. Caution! Make sure that mains power is disconnected before connecting or disconnecting cables. Failure to do so may cause damage to the equipment.Figure 6-1 How to Avoid Stressed Cables The Polaris Vicra System incorporates a number of different connectors:• self-locking circular connector• USB connector• jack connectorHandle the connectors with care, paying particular attention to the points detailed below:• Pull connections apart by gripping the connector. Do not pull them apart by tugging on the cable as this can damage the connecting cable and connector pins.• Do not leave cable connectors where they will get damaged, particularly on the floor, where they can easily be stepped on or rolled over by heavy equipment.• Do not put heavy objects on cables or cable connectors.• Never force a connection.• On LEMO connectors, make sure that the red dots on the connectors are lined up with each other before connection (the double keys of the connector should be aligned).
Setting the Infrared Light Sensitivity54 Polaris Vicra User Guide - Revision 27 Setting the Infrared Light Sensitivity7.1 IR Light Sensitivity LevelsThe IR light sensitivity level determines how sensitive the Polaris Vicra System is to IR light.Background IR LightBackground IR light is IR light that is not reflected (passive) or emitted (active) from a marker, but is detected by the Polaris Vicra Position Sensor. Background IR light can be direct (light bulbs, sunlight) or indirect (reflections off shiny surfaces or draping). In particular, IR light in the 800 nm to 1100 nm range can interfere with the Polaris Vicra System’s ability to track tools. For example, some types of operating room lights emit IR light that is detected as background IR.The IR light sensitivity level controls the Polaris Vicra System’s ability to tolerate background IR light. Trigger Level and Integration TimeThe integration time is the time in which the Polaris Vicra Position Sensor collects IR light.The trigger level is the minimum IR light intensity considered to be valid marker data. The Polaris Vicra System uses the trigger level to distinguish between marker data and background IR light. IR light that falls below the trigger level is rejected by the Position Sensor. The trigger level increases with the integration time. In general, as the sensitivity level increases, so does the trigger level. During operation, the Polaris Vicra System makes adjustments to the integration time so that the intensity of the brightest IR light detected is set to a maximum value, and the intensity of all other IR light detected falls below this value. Changing the sensitivity level does not change this maximum value. Thus, when the sensitivity level changes, the integration time does not change but the trigger level does.The relationship between trigger level and integration time for each sensitivity level is illustrated in Figure 7-1.
Setting the Infrared Light SensitivityPolaris Vicra User Guide - Revision 2 55Figure 7-1 Infrared Light Sensitivity LevelsSensitivity LevelsThere are seven sensitivity levels; with each increasing level number, the ability of the system to tolerate background IR light increases. Increasing the sensitivity level makes the system performance more robust in the presence of background IR light; however, it increases the chance that a tool cannot be tracked properly because it may have a marker that is not bright enough. Low marker brightness can be caused by, for example, the surface of a marker becoming partially occluded by fluids or other materials, thus reducing the reflectivity of the marker. Level 4 is the default sensitivity level for the Polaris Vicra System and should work well in most situations.7.2 Changing the Sensitivity LevelChecking for Background IR LightIf a tool is tracking intermittently or not tracking at all, check the IR interference flag in the port status and in the tool information returned with the BX or TX command. If the IR interference flag is intermittently or constantly on for any of the tools, there may be background IR present. Alternatively, you can check for the “Interference” flag in the tool tracking utility of NDI ToolBox, or use the image capture utility in NDI ToolBox to capture images of the IR detected by the system.01020304050607080901000 100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500Trigger Level (% of maximum)Integration Time (µs)21345671 -7 representsensitivity levels
Setting the Infrared Light Sensitivity56 Polaris Vicra User Guide - Revision 2Choosing a Sensitivity LevelChoose a sensitivity level of 5, 6 or 7 if:• If the "IR Interference" flag in the Port Status flags is on persistently AND • tools don't track AND • re-arranging the scene doesn't help. Choose a sensitivity level of 3, 2 or 1 if:• If a tool doesn't track AND • all markers are clearly in view AND clean AND • no other error flags are giving any indication for why the tool is not tracking (NDI experience shows that there should not be any reason for going to a level lower than 4.) Note The sensitivity levels do NOT change the way centroid extraction is performed and therefore can NOT solve tracking problems with tools embedded in background IR. Sensitivity level adjustment only helps when tool and background IR are in different physical locations.Use the default sensitivity level 4 unless the system is experiencing interference from background IR light. If the system is experiencing such interference, check the environment for causes (for example, reflections). If it is not possible to eliminate the source of the background IR light, then start with a low sensitivity level and increase the level until the tools track reliably.The system may actually be tracking a tool even when the tool’s IR interference flag is on. You should still increase the sensitivity level, since the behaviour of the system in this case is dependent on the setup. (For example, moving the tool to another part of the measurement volume may prevent it from being tracked properly.)Changing the Sensitivity LevelYou can change the IR sensitivity of the Polaris Vicra System using either NDI ToolBox or the SENSEL command.The NDI ToolBox software can be used to select a sensitivity level, and to program a sensitivity level as the default setting in the Position Sensor memory.The SENSEL command is used to temporarily select a sensitivity level. The level set using the SENSEL command persists until a RESET or INIT command is issued. The SENSEL command can also be used to query the currently active level. For more information on the SENSEL command, see the “Polaris Application Program Interface Guide”.
Calibration and FirmwarePolaris Vicra User Guide - Revision 2 578 Calibration and Firmware8.1 Checking the Calibration of the Polaris Vicra SystemThe Position Sensor is calibrated at NDI, using the methodology described in Appendix A. Over time, it is possible for the Position Sensor to lose calibration. A periodic calibration check should be performed on the Position Sensor. The frequency of the calibration check depends on the specific application and environment in which the Position Sensor is used.If the Position Sensor begins to lose calibration, it may lose the ability to track some tools before others. This is due to the various constraints used by the Polaris Vicra System, which make certain tool designs more sensitive to loss of calibration than others. For example, consider a tool that has several similar segment lengths or similar angles between segments, or has segment lengths similar to those of another tool. An out-of-calibration Position Sensor may not be able to determine which markers belong to which tool, because the segment lengths will be measured less accurately. In this case, the system will report the tools as missing. (See “Marker Detection and Tool Tracking” on page 28 and the “Polaris Tool Design Guide” for details on segment lengths and angles.)NDI’s Accuracy Assessment Kit can be used as an aid in determining whether a Position Sensor is performing acceptably for the user’s application. For all calibration procedures, return the Position Sensor to NDI. This practice ensures that all calibrations are conducted in accordance with procedures established specifically for the Polaris Vicra Position Sensor. See “Return Procedure” on page 77 for instructions on returning equipment to NDI.Line Separation and CalibrationThe Position Sensor line separation (described on page 28) can sometimes be an indication that a Position Sensor is out of calibration, but is not necessarily the best indicator and cannot always detect calibration loss. For example, suppose one of the sensors was to shift towards the centre of the Position Sensor while maintaining its horizontal alignment. In this case, the Position Sensor would be out of calibration without any change in line separation, and the reported position of the tool would be shifted.If the Position Sensor is measuring high line separation values, it may be an indication of loss of calibration. Line separation alone should not, however, be used as a test for calibration loss.Bump SensorThe bump sensor detects when the Position Sensor has been bumped above a shock limit broadly equivalent to a 200 mm to 254 mm drop onto a vinyl tiled concrete surface. A bump can cause the system to lose calibration; however, it is not the only cause of calibration loss. Checking the bump sensor status should be part of your regular calibration check. You can use the GET command to check the bump sensor status. The bump status is indicated in bit 0x00200000 of the “Info.Status.Alerts” parameter. You can also check the bump sensor status using NDI ToolBox.Because a bump can affect the calibration of the Position Sensor, the system will not report transformations if the bump sensor has detected a bump, unless:• the bump sensor has been cleared, or• reply option 0x0800 is used with the TX or BX command.
Calibration and Firmware58 Polaris Vicra User Guide - Revision 2Note See the “Polaris Application Program Interface Guide” for details on checking and clearing the bump sensor, and using the TX, BX and GET commands.If a bump has been detected, NDI recommends that you perform an accuracy assessment procedure with the NDI Accuracy Assessment Kit (AAK), to ensure that the Position Sensor is still calibrated. For information on the accuracy assessment procedure and AAK, contact NDI. 8.2 Updating the FirmwareThe Polaris Vicra System’s firmware is stored in an EPROM flash memory device in the Position Sensor. The latest firmware can be downloaded from the NDI Support Site at http://support.ndigital.com. Update the Polaris Vicra System’s firmware using NDI ToolBox. (See the NDI ToolBox online help for further information.)The system incorporates a safe boot loader that will perform verification of the control firmware in the Position Sensor's memory prior to loading and executing it. It has been included to provide a fall back if a future control firmware upgrade fails. A field firmware upgrade could fail, due to communication or power faults. In these cases, the Position Sensor will still be able to start up by running the safe boot loader. This will provide minimal support, to allow the user to retry the control firmware upgrade.
ApprovalsPolaris Vicra User Guide - Revision 2 599 ApprovalsThe Polaris Vicra System (consisting of a Position Sensor, Model P6, Power Adapter and a Host USB Converter), qualifies for the following approvals.9.1 Optical Radiation SafetyThe Polaris Vicra Position Sensor has been assessed against the IEC Standard 60825-1 and the Euronorm EN60825-1 and found not to pose a potential hazard to the eye under any foreseeable viewing condition.Note The Polaris Vicra System emits IR light that may interfere with IR controlled devices, such as operating room tables. It is recommended that you test the Polaris Vicra System if you intend to use it in an environment where other IR controlled devices are in use. Table 9-1 Electrical SafetyStandard DescriptionEN60601-1 (1990) Second Edition plus A1:93, A2:95, A12:93 and Corr:94Medical Electrical Equipment Part I: General Requirements for SafetyCAN/CSA-C22.2 No. 601.1-M90(R2001)Medical Electrical Equipment Part I: General Requirements for SafetyUL 60601-1, First Edition, dated April 25, 2003.Medical Electrical Equipment Part I: General Requirements for SafetyTable 9-2 Electromagnetic CompatibilityStandard DescriptionCISPR 11/EN55011FCC Part 15, Class BClass B, Group 2, ISM EquipmentIEC60601-1-2:2001 Medical Electrical Equipment, Part 1: General Requirements for Safety—Collateral Standard: Electro-Magnetic Compatibility - Requirements and Tests.
Classifications60 Polaris Vicra User Guide - Revision 210 ClassificationsTable 10-1 ClassificationsClassification DescriptionElectric shock protection Class I - no applied partsDegree of Protection from electric shockNot classifiedDegree of Protection against ingress of solids and liquidsPosition Sensor designed to IP 54Flammable atmosphere Not suitable for use in the presence of a flammable anaesthetic mixture with air, oxygen or nitrous oxideMode of operation Continuous when supplied by mainsMethod of sterilization or disinfectionNot suitable for sterilization
Technical SpecificationsPolaris Vicra User Guide - Revision 2 6111 Technical SpecificationsThis chapter provides technical specifications on each of the system units.11.1 Position SensorThe system requires a warm-up time from storage temperature to operating temperature equivalent to 10 minutes plus one minute for every 1°C of difference between storage temperature and operating temperature. (If the temperature difference is within 5°C, the warm-up time will be 10 minutes.)For example, if the system is stored at -10°C and moved to a location at +30°C, the warm-up time will be 10 minutes, plus an additional 40 minutes to account for the difference in temperature. Do not transport or store the Position Sensor outside the recommended storage temperature range, as this may cause the system to go out of calibration. Reliance on data provided by an out of calibration Position Sensor may lead to inaccurate conclusions and may cause personal injury. A calibration procedure must be performed before using the Position Sensor after it has been transported or stored outside the recommended storage temperature range.Table 11-1 Position Sensor - Technical SpecificationsSpecification ValueDimensions 273 mm x 69 mm x 69 mmWeight <1 kgMounting 1/4” thread tripod mount, or 3 M3 x 0.5 mm x 9 mm screwsHost Interface USB (1.1 and 2.0 compatible)Maximum Update Rate 20 HzInput Voltage 26 VDCPower Consumption 13.5 W (approx.)Table 11-2 Position Sensor - Operating Environmental ConditionsEnvironmental Condition ValueAtmospheric Pressure 70 kPa to 106 kPaRelative Humidity 30% to 75%Temperature +10oC to +30oC (See note below)Warning!
Technical Specifications62 Polaris Vicra User Guide - Revision 2Caution! To ship the Polaris Vicra System, repack it in the original containers with all the supplied protective packaging. The provided packaging is designed to prevent damage to the equipment.11.2 Host USB ConverterTable 11-3 Position Sensor - Transportation and Storage Environmental ConditionsSpecification ValueAtmospheric Pressure 50 kPa to 106 kPaRelative Humidity 10% to 90% non-condensingTemperature -10oC to +50oCTable 11-4 Host USB Converter - Technical SpecificationsSpecification ValueDimensions 88 mm x 57 mm x 39 mmWeight 0.35 kgMounting Free standing or secured via internal threads (M6 x 1mm pitch 3 mm depth) in (three) mounting feetInput Voltage 24 VDCOutput Voltage 26 VDCPower Consumption <2 WTable 11-5 Host USB Converter - Operating Environmental ConditionsEnvironmental Condition ValueAtmospheric Pressure 70 kPa to 106 kPaRelative Humidity 30% to 75%Temperature +10oC to +30oCTable 11-6 Host USB Converter - Transportation and Storage Environmental ConditionsSpecification ValueAtmospheric Pressure 50 kPa to 106 kPaRelative Humidity 10% to 90% non-condensing
Technical SpecificationsPolaris Vicra User Guide - Revision 2 6311.3 Power AdapterTemperature -10oC to +50oCTable 11-6 Host USB Converter - Transportation and Storage Environmental ConditionsSpecification ValueTable 11-7 Power Adapter - Technical SpecificationsSpecification ValueDimensions 125 mm x 62 mm x 32 mmWeight 0.37 kgMounting Free standingInput Voltage 100 VAC to 240 VAC, 50/60 HzOutput Voltage 24 VDC @ 2.1 APower Consumption 48 W (max.) (24 W typical)Table 11-8 Power Adapter - Operating Environmental ConditionsEnvironmental Condition ValueAtmospheric Pressure 70 kPa to 106 kPaRelative Humidity 30% to 75%Temperature +10oC to +30oCTable 11-9 Power Adapter - Transportation and Storage Environmental ConditionsSpecification ValueAtmospheric Pressure 50 kPa to 106 kPaRelative Humidity 10% to 90% non-condensingTemperature -10oC to +50oC
Electromagnetic Compatibility64 Polaris Vicra User Guide - Revision 212 Electromagnetic CompatibilityRadio frequency communications equipment, including portable and mobile devices, may affect the Polaris Vicra System and result in personal injury.12.1 Electrostatic DischargeCare should be taken to mitigate the production of electrostatic charges, to avoid any damage to the equipment that could cause incorrect data to be returned, (possibly resulting in personal injury). These measures can include, but are not limited to, appropriate air conditioning, humidification, conductive floor coverings, attire.It is not a good practice to use the Polaris Vicra System either adjacent to, or stacked with, other equipment. Check that the Polaris Vicra System is operating normally if it is used either adjacent to, or stacked with, other equipment. 12.2 Cables and AccessoriesThe following table lists the cables and accessories that may be used with the Polaris Vicra System while still maintaining compliance to the emissions and immunity requirements of IEC60601-1-2:2001.Use of cables or accessories, other than those listed in the following table, may result in increased emissions and/or decreased immunity of the Polaris Vicra System and may result in personal injury.Warning!Warning!Table 12-1 Cables and Accessories That Maintain ComplianceName NDI P/N Type Shield NotesCable AC Line Cord, Medical Grade 7500010 North American No Mains to Power AdapterCable AC Line Cord 7500012 France/Belgium/ GermanyNo Mains to Power AdapterUSB cable 2600596 USB, A-B male, double shielded, 2 mYes Computer to Host USB ConverterPower Adapter 4100139 Switch Mode, 100-240 VAC input, 24 VDC, 40 W outputNA NA
Electromagnetic CompatibilityPolaris Vicra User Guide - Revision 2 6512.3 Guidance and Manufacturer's Declaration - Electromagnetic EmissionsThe Polaris Vicra System meets the electromagnetic environments listed below. The customer or the user of the Polaris Vicra System should ensure that it is only used in such an environment.12.4 Guidance and Manufacturer’s Declaration - Electromagnetic ImmunityThe Polaris Vicra System is intended for use in an environment that meets the requirements outlined by the manufacturer’s declaration for electromagnetic immunity (See Table 12-3 on page 65). The customer or the user of the Polaris Vicra System should ensure that it is only used in such an environment.Table 12-2 Manufacturer’s Declaration for Electromagnetic EmissionsEmissions Test Compliance Electromagnetic Environment GuidanceRF emissions CISPR11Group 2 The Polaris Vicra System must emit electromagnetic energy in order to perform all its intended functions. Nearby electronic equipment may be affected.RF emissions CISPR11Class B The Polaris Vicra System is suitable for use in all establishments, including domestic establishments and those directly connected to the public low-voltage power supply network that supplies buildings used for domestic purposesHarmonic emissions IEC61000 3-2Class AVoltage fluctuations/flicker emissions IEC61000-3-3CompliesTable 12-3 Electromagnetic ImmunityImmunity Test IEC 60601 Test Level Compliance Level Electromagnetic Environment - GuidanceElectrostatic discharge (ESD)IEC 61000-4-2±6 kV contact±8 kV air±6 kV contact±8 kV airObserve precautions when connecting or disconnecting cables at ports identified with the ESD warning symbol
Electromagnetic Compatibility66 Polaris Vicra User Guide - Revision 2Electrical Fast Transient (EFT)/burst IEC 61000-4-4±2 kV for power supply lines.±1 kV for I/O lines±2 kV for power supply lines.±1 kV for I/O linesCare must be taken to route all patient-coupled cables away from high power, high current or other cables or sources that may induce electrical fast transients into the patient-coupled cables. If such interference is suspected, the cables should be re-routed and/or the source of the interference shielded or otherwise isolated. Surge IEC 61000-4-5±1 kV different-ial mode±1 kV differential mode±2 kV common mode±2 kV common modeDips/Interruptions/Variations on power supply inputIEC 61000-4-11<5% Ut for 0.5-cycles<5% Ut for 0.5-cycles40% Ut for 5-cycles40% Ut for 5-cycles70% Ut for 25-cycles70% Ut for 25-cycles<5% Ut for 5 sec <5% Ut for 5 secPower frequency (50/60Hz) magnetic field IEC 61000-4-83 A/m 3 A/m Power frequency magnetic fields should be at levels characteristic of a typical location in a typical commercial or hospital environment. Table 12-3 Electromagnetic Immunity (Continued)Immunity Test IEC 60601 Test Level Compliance Level Electromagnetic Environment - Guidance
Electromagnetic CompatibilityPolaris Vicra User Guide - Revision 2 67Note Ut is the AC mains voltage prior to the application of the test level.a - Field strengths from fixed transmitters, such as base stations for radio (cellular/cordless) telephones and land mobile radios, amateur radio, AM and FM radio broadcast and TV broadcast, cannot be accurately predicted. To assess the electromagnetic environment due to fixed RF transmitters, an electromagnetic site survey should be considered. If the measured field strength in the location where the Polaris Vicra System is used exceeds the applicable RF compliance level above, observe the system to verify normal operation. If abnormal performance is observed, additional measures may be necessary, such as re-orienting or relocating the Polaris Vicra System.Table 12-4 Electromagnetic Immunity - Not Life SupportingImmunity Test IEC 60601 Test Level Compliance Level Electromagnetic Environment - GuidancePortable and mobile RF communications equipment should be used no closer to any part of the Polaris Vicra System, including cables, than the recommended separation distance calculated from the equation applicable to the frequency of the transmitter.Conducted RF IEC 61000-4-63 Vrms150 kHZ to 80 MHz3 V Recommended separation distance:See Table 12-5 on page 68Radiated RF IEC 61000-4-33 V/m80 MHz to 2.5 GHz3 V/m 80 MHz to 800 MHz 800 MHz to 2.5 GHzwhere 'P' is the maximum output power rating of the transmitter in watts (W) according to the transmitter manufacturer and 'd' is the recommended separation distance in metres.Field strengths from fixed RF transmitters, as determined by an electromagnetic site surveya, should be less than the compliance level in each frequency rangeb. Interference may occur in the vicinity of equipment marked with the following symbol:See Table 12-5 on page 68.d3.53-------P=d3.53-------P=d73--- P=
Electromagnetic Compatibility68 Polaris Vicra User Guide - Revision 2b - Over the frequency range of 150 kHz to 80 MHz, field strengths should be less than 3 V/m.Note At 80 MHz and 800 MHz, the higher frequency range applies. These guidelines may not apply to all situations. Electromagnetic propagation is affected by absorption and reflection from structures, objects, and people. If an electromagnetic interference is suspected, it is the responsibility of the user to assess the electromagnetic environment in their location.12.5 Recommended Separation Distances The Polaris Vicra System is intended for use in an electromagnetic environment in which radiated RF disturbances are controlled. The customer or the user of the Polaris Vicra System can help prevent electromagnetic interference by maintaining a minimum distance between portable and mobile RF communications equipment (transmitters) and the Polaris Vicra System, as recommended below according to the maximum output power of the communications equipment.For transmitters rated at a maximum output power not listed above, the recommended separation distance (d) in metres (m) can be estimated using the equation applicable to the frequency of the transmitter, where P is the maximum output power rating of the transmitter in watts (W) according to the transmitter manufacturer.Note At 80 MHz and 800 MHz, the higher frequency range applies. These guidelines may not apply to all situations. Electromagnetic propagation is affected by absorption and reflection from structures, objects, and people.12.6 RF EmissionsThis device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions:1. This device may not cause harmful interference and,Table 12-5 Recommended Separation DistancesRated maximum output power of transmitter (watts)Separation distance according to frequency of transmitter (metres)150kHz to 80MHz 80 MHz to 800 MHz 800 MHz to 2.5 GHz0.01 0.117 0.117 0.233 0.1 0.369 0.369 0.737 1.0 1.17 1.17 2.33 10 3.69 3.69 7.38 100 11.67 11.67 23.33 d3.53-------P= d 3.53-------P= d 73--- P=
Electromagnetic CompatibilityPolaris Vicra User Guide - Revision 2 692. This device must accept any interference received, including interference that may cause undesired operation.Note This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: -- Reorient or relocate the receiving antenna. -- Increase the separation between the equipment and receiver. -- Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. -- Consult the dealer or an experienced radio/TV technician for help.Notes CE Mark: This is a Class B product. In a domestic environment, this product may cause radio interference, in which case the user may be required to take adequate measures. Changes or modifications not expressly approved by Northern Digital Inc. could void the user’s authority to operate the equipment. To satisfy FCC and IC RF exposure requirements for mobile transmitting devices, a separation distance of 20 cm or more should be maintained between the antenna of this device and persons during device operation. To ensure compliance, operations at closer than this distance is not recommended.The antenna used for this transmitter must not be co-located in conjunction with any other antenna or transmitter.Industry Canada Compliance Statement: This class B digital apparatus meets the requirements of the Canadian Interference-Causing Equipment Regulations.Avis de Conformité à la réglementation d’Industrie Canada: Cet appareil numerique de la classe B respecte toutes les exigences du réglement sur le materiel brouilleur du Canada.
Troubleshooting70 Polaris Vicra User Guide - Revision 213 Troubleshooting13.1 IntroductionThis section provides possible solutions to common problems and answers some frequently asked questions. For further information regularly check the NDI Support Site at:http://support.ndigital.comIf you cannot find the answer to your question here or on the support site, contact NDI at the address shown at the front of this guide. The majority of problems that may occur with the Polaris Vicra System can be grouped into one of the following categories:• A system hardware failure (for example a faulty Position Sensor or cable)• A tool error (for example, dirty markers)• Environmental conditions (for example, incidental IR light)• User error (for example, obscuring the optical path)Certain faults may be indicated by system LEDs or audio tones, or by means of error messages in NDI ToolBox application software. These indications and messages are detailed in the following paragraphs. 13.2 System IndicationsThe LED indicators on the Position Sensor and Host USB Converter provide a visual indication of system status. In addition the Position Sensor emits audio tones that provide an audible indication of system status. Refer to table 13-1 below to interpret the system visual and audio indications. Table 13-1 System Visual and Audio IndicationsIndication Meaning ActionPosition Sensor: Power LED is offPosition Sensor voltage out of range1. Refer to Figure 13-1. If necessary proceed to 2 below.2. Check for green power LED on Host USB Converter. If lit, check/replace the Position Sensor. If not lit, check/replace the power adapter, cables and Host USB ConverterPosition Sensor: Power LED is flashingNormal indication during warm-upNo action requiredPosition Sensor: Error LED is flashingA recoverable system fault has been detectedRefer to the NDI ToolBox error message and table 13-2. (If you are using your own application, use the “Info.Status.Alert” parameter in the GET command)
TroubleshootingPolaris Vicra User Guide - Revision 2 71Position Sensor: Error LED is litA non-recoverable system fault has been detectedReplace the Position SensorPosition Sensor: two audio tones emittedNormal indication when power is initially applied to the system or the system is resetNo action requiredHost USB Converter: Error LED is litA fault has been detected by the Host USB ConverterRefer to Figure 13-1 for actionTable 13-1 System Visual and Audio Indications (Continued)Indication Meaning Action
Troubleshooting72 Polaris Vicra User Guide - Revision 2Figure 13-1 Host USB Converter - Error LED Fault Chart13.3 NDI ToolBox Error MessagesThe NDI ToolBox application software displays a box around the appropriate icon and an associated error message in the status message area for a number of possible system fault conditions. The Host USB ConverterError LED is litTurn system mains poweroff for 10 seconds, thenturn back onDoesErrorLED gooff?Fault ClearedDisconnect PositionSensorDoesErrorLED gooff?Replace PositionSensorCheck/Replace:1. Power Adapter2. Host USB ConverterYesNoYesNo
TroubleshootingPolaris Vicra User Guide - Revision 2 73messages should be read in conjunction with the system LED and audio indications shown in Table 13-1. A list of error messages that may be displayed in NDI ToolBox is shown in Table 13-2Table 13-2 NDI ToolBox Error MessagesToolBox Icon ToolBox Message ActionHardware “Unable to initialize the system” and “Non-recoverable memory fault. Return for service”Replace Position SensorHardware “Unable to initialize the system” and “Sensor calibration fault. Return for service”Replace Position SensorHardware “Power fault. Check power supply, USB converter and cables”1. Refer to Figure 13-1. I necessary proceed to 2 below.2. Check for green power LED on Host USB Converter. If lit, check/replace the Position Sensor. If not lit, check/replace the power adapter, cables and Host USB ConverterHardware “Sensor hardware fault. Return for service” Replace Position SensorHardware “Illuminator hardware fault. Return for service” Replace Position SensorHardware “Illuminator hardware fault. Return for service” Replace Position SensorHardware “Cable fault. Check USB converter and cables” Check/replace Host USB ConverterHardware “Incompatible firmware versions” and “System programming fault. Firmware update required”Reload/update firmwareHardware “Unable to initialize the system” and “Recoverable memory error. Check settings and save”Reload/update firmwareBump status “Bump detector battery fault. Return for service” Replace Position Sensor or be aware that bumps will not be detectedBump status “Serious bump detected. Accuracy assessment recommended”System accuracy assessment recommended. Contact NDI for details.Temperature “Internal temperature above calibrated operating range”Allow Position Sensor to cool downTemperature “Internal temperature below calibrated operating range”Allow Position Sensor to reach operating rangeTemperature “Temperature compensation fault. Return for service”Replace Position SensorNo icon “Control firmware missing or corrupted” and “Unable to initialize the system”Reload/update firmwareNo icon “Internal flash memory is full” Replace Position Sensor
Troubleshooting74 Polaris Vicra User Guide - Revision 2Note If you are using your own applications, use the GET command to read the “Info.StatusAlert” parameter to check the alert status. Refer to the “Polaris Application Program Interface Guide” for further information. 13.4 Common ProblemsThe following paragraphs lists specific problems and a possible solution. The tool is inside the measurement volume, but the software reports that the tool is partially out of volumeThis may mean that less than the minimum number of markers (a parameter in the tool definition file) are inside the characterized measurement volume, but at least one marker on the tool is inside the characterized measurement volume.For example, consider a four-marker tool, whose minimum number of markers parameter is set to 4. If three of the tool’s markers are inside the characterized measurement volume, and the other marker is outside the characterized measurement volume, the Polaris Vicra System will continue to track the tool, but the accuracy is unknown, and the tool will be reported as partially out of volume. The system doesn’t track tools at the back of the characterized measurement volumeIf the system will track at the front of the measurement volume but not at the back, the Position Sensor may be damaged, or calculating high line separation values. For more details on line separation, see “Marker Detection and Tool Tracking” on page 28. You can check the line separation values using the 3D command. See the “Polaris Application Program Interface Guide” for details.Other IR-based devices are not working properlyUsing the Polaris Vicra System in the same room as other IR-based devices may cause these other devices to malfunction. The Position Sensor’s illuminators flood the surrounding area with IR light, which could saturate other IR receiving devices, preventing them from properly receiving other IR signals.It may be possible to synchronize other devices with the Polaris Vicra System, so that IR signals from the other devices are not being emitted at the same time as the illuminators emit IR. Contact NDI Technical Support for details or visit the support site at http://support.ndigital.com.The Polaris Vicra System is tracking some tools, but not othersAs the Position Sensor begins to lose calibration, it may lose the ability to track some tools before others. This is due to the various algorithm constraints used by the Polaris Vicra System, which make certain tool designs more sensitive to loss of calibration than others. Consider, for example, a tool that has several similar segment lengths or similar angles between segments, or has segment lengths similar to those of another tool. The out-of-calibration Position Sensor may not be able to determine which markers belong to which tool, and so will report the tools as missing. (See “Marker Detection and Tool Tracking” on page 28 and the “Polaris Tool Design Guide” for details on segment lengths and angles.)
TroubleshootingPolaris Vicra User Guide - Revision 2 75See “Checking the Calibration of the Polaris Vicra System” on page 57 for more details about calibration.Reflections and other IR SourcesReflections and other IR sources may cause markers to become “lost” in the background IR light. These reflections and sources should be eliminated or minimised as much as possible. Reflections occur when IR light from the illuminators is reflected off surfaces such as:• drapes - ensure that drapes are placed such the reflections are minimised• reflective surfaces - minimise reflective surfaces in the environment• tools - design and manufacture tools in non-reflective materials. Refer to the “Polaris Tool Design Guide” for further information. Other sources of IR light, such as operating room lights, should be considered when positioning the system in order to minimise interference from such devices. What happens if the markers are partially blocked from the view of the Position Sensor? The Polaris Vicra System requires a clear line-of-sight to the markers. Anything that interferes with the line-of-sight can reduce the measurement accuracy. The magnitude of the errors that are caused by partial occlusion of the markers depends on the number of markers, the geometry of the tool, and the severity of the occlusion. Errors caused by partial occlusion can have exactly the same magnitude for active and passive tools. However, there is more opportunity to partially occlude the passive markers because they are larger than active markers.When designing a new tool, it is important to consider the effect of partial occlusion on its accuracy. The values used for these parameters will also depend on the design of the tool. The best value is usually determined through experimentation. See the “Polaris Tool Design Guide” for further information on tool design. Why is the tool reported as missing? A tool may be reported as missing if:• it has been rotated so that too few markers are visible to the Position Sensor • the tool is no longer in the field of view • the tool is damaged, for instance if it is bent• the condition of the makers has deteriorated, for instance scuffed, or occluded with foreign matter.The Position Sensor seems too warmThe Position Sensor will be warm to the touch during normal use. If the temperature goes out of range an error message will be shown in NDI ToolBox application software.
Troubleshooting76 Polaris Vicra User Guide - Revision 2The Virtual Serial Port cannot be openedIf you cannot open the virtual serial port, check the system connections, the Host USB Converter and the host PC USB port.
Return Procedure and WarrantyPolaris Vicra User Guide - Revision 2 7714 Return Procedure and Warranty14.1 Return ProcedureIn the event that you need to return equipment to NDI for repairs, you will need to fill out a Return Materials Authorization (RMA) request form at the NDI Support Site at http://support.ndigital.com. NDI will contact you with RMA information and shipping instructions. Any materials you are returning to NDI should be shipped in their original packaging.You are responsible for the shipping costs of returning equipment to NDI, whether or not the equipment is covered under warranty. When the equipment is received at NDI, it will be inspected to determine whether the required repair is covered under warranty. NDI can provide you with a quote of repair costs either before or after repairs have been made. If the equipment is covered under warranty, NDI will pay the return shipping costs. If the equipment is not covered under warranty, you are required to pay the return shipping costs.14.2 WarrantyUnless otherwise agreed to in writing by NDI, the warranty is as follows, and applies only to the original purchaser. Note This warranty is also posted on the NDI Support Site at http://support.ndigital.com.HardwareNDI warrants to the Buyer that NDI’s hardware product(s) will be free from defects in material and workmanship only for a period twelve (12) months from the date such product(s) is/are shipped from NDI to the Buyer. This warranty does not apply to product(s) normally consumed in Buyer’s operations or which have a normal life inherently shorter than the above-stated warranty period. Without limiting the generality of the foregoing, the following products shall have the following warranty periods: SoftwareNDI’s software product(s) is/are licensed and provided “as is, where is” without warranty of any kind. NDI makes no warranties, express or implied, that the functions contained in the software product(s) will meet the Buyer’s requirements or that the operation of the programs contained therein will be error free.product or components thereof which are re-chargeable batteries . . . 90 days from shipmentinfrared emitting diode (IRED) markers or product(s) which contain IRED markers (other than illuminators on Position Sensors) . . . . . . . 90 days from shipmentsingle use, disposable reflective (passive-type) markers . . . . . . . . . . . prior to first use but no more than 90 days from shipment
Return Procedure and Warranty78 Polaris Vicra User Guide - Revision 2General Provisions Applicable to WarrantyNDI’s obligations under this warranty shall be limited to repairing or replacing (at NDI’s option) the product(s), EXW (Incoterms 2000) NDI’s plant (Waterloo, Ontario, Canada). Any original parts removed and/or replaced during any repair process shall become the property of NDI. This warranty shall apply only to the original Buyer [being that person or legal entity which has contracted directly with NDI for the supply of the product(s)]. Repair work shall be warranted on the same terms as stated herein except such warranty shall be for a period of sixty (60) days or for the remainder of the unexpired warranty period, whichever is longer. In respect of any product(s) supplied hereunder which are manufactured by others, NDI gives no warranty whatsoever, and the warranty given by such manufacturers, if any, shall apply. The obligations of NDI set forth in this warranty are conditional upon proper transportation, shipping, handling, storage, installation, use, maintenance and compliance with any applicable recommendations of NDI. Without limiting the generality of the foregoing, this warranty shall not apply to defects or damage resulting from: fire; misuse; abuse; accident; neglect; improper installation; improper care and/or maintenance; lack of care and/or maintenance; customer supplied software interfacing; modification or repair which is not authorized by NDI; power fluctuations; operation of hardware product(s) outside of environmental specifications; improper site preparation and maintenance; permitting any substance whatsoever to contaminate or otherwise interfere with optics; and any other cause beyond the control of NDI. The obligations set forth in this warranty are further conditional upon the Buyer promptly notifying NDI of any defect and, if required, promptly making the product(s) available for correction. NDI shall be given reasonable opportunity to investigate all claims and no product(s) shall be returned to NDI without NDI first providing the Buyer with a return material authorization number and shipping instructions. All product(s) returned to NDI shall be packaged in the containers originally used by NDI to ship the product(s) to the Buyer.NDI, for itself, its agents, contractors, employees, providers, and for any parent or subsidiary of NDI, expressly disclaims all warranties, express or implied, including, without limitation, of merchantability or fitness for a particular purpose.The foregoing warranty is the entire warranty of NDI. NDI neither assumes nor authorizes any person, purporting to act on its behalf, to modify or to change this warranty, or any other warranty or liability concerning the product(s).
Abbreviations and AcronymsPolaris Vicra User Guide - Revision 2 7915 Abbreviations and AcronymsAcronym or Abbreviation Definition5DOF 5 Degrees Of Freedom6DOF 6 Degrees Of FreedomAAK Accuracy Assessment KitAPI Application Program InterfaceCCD Charge Coupled DeviceCRC Cyclic Redundancy CheckDSR Data Set ReadyEMC Electromagnetic CompatibilityEMI Electromagnetic InterferenceEPROM Erasable Programmable Read Only MemoryFCC Federal Communications CommissionIC Industry CanadaIR Infrared LightIRED InfraRed Light Emitting DiodeLED Light Emitting DiodeMRI Magnetic Resonance ImagingNDI Northern Digital Inc.OR Operating RoomPROM Programmable Read Only MemoryRF Radio FrequencyRMA Return Materials AuthorizationRMS Root Mean SquareUSB Universal Serial Bus
Equipment Symbols80 Polaris Vicra User Guide - Revision 216 Equipment SymbolsSymbol Meaning System ComponentsHardware Attention!Consult accompanying documents.Position SensorHost USB ConverterOn (power: connection to the mains supply) Position SensorHost USB ConverterStatus Position SensorError Position SensorHost USB ConverterDirect Current Host USB ConverterUSB Port Host USB ConverterConnection Port Position Sensor
GlossaryPolaris Vicra User Guide - Revision 2 8117 Glossary3D RMS ErrorThe RMS error is the square root of the sum of the squares of the measurement errors. This can be approximated by the square root of the mean square added to the standard deviation squared of the errors. CalibrationCalibration is the process of establishing, under specified conditions, the relationship between values produced by an NDI measurement system and corresponding known values established by a device that is traceable to a national standard.Characterized Measurement VolumeThe characterized measurement volume is the volume within the detection region where accuracy is within specified limits. NDI cannot guarantee measurement accuracy outside this region.FacesTool faces are separate rigid bodies that make up a tool.Field of ViewThe field of view is the total volume in which the Polaris Vicra System can track a marker, regardless of accuracy.FirmwareFirmware is a computer program stored in an NDI hardware device and controls the Polaris Vicra System.Flash EPROMFlash Electrically Erasable Programmable Read Only Memory (EEPROM) stores control parameters and system information within the Position Sensor. The information programmed to the Flash EEPROM is retained even after the system is turned off.FrameA frame contains the measured positions of the markers in the field of view at a particular point in time.Global Coordinate SystemThe global coordinate system is the Polaris Vicra coordinate system. The global coordinate system is used by the Polaris Vicra as a frame of reference against which tool transformations are reported. By default, the global coordinate system's origin is set at the Position Sensor
82 Polaris Vicra User Guide - Revision 2Illuminator RingThe illuminator ring is a ring of IR light emitting diodes that surround the sensor lenses on the Position Sensor. These flood the area in front of the Position Sensor with IR light, which is reflected back to the Position Sensor by the passive markers.Line SeparationTo determine the position of an IR source, the Position Sensor calculates a line between the source of IR and each sensor. The line separation is the distance between these two lines where they cross.Local Coordinate SystemA local coordinate system is a coordinate system assigned to a specific tool or rigid body.Maximum 3D ErrorMaximum 3D error applies to individual markers. It specifies, in the tool definition file, the maximum allowable difference between the measured and expected location of a marker on a tool or rigid body.Maximum Marker AngleMaximum marker angle is used to determine if a marker will be used in the calculation of a rigid body or tool. If the marker is determined to be farther off-angle to the Position Sensor than the maximum marker angle, this data is not used to determine the rigid body or tool. Passive MarkerA passive marker is a retro-reflective passive sphere that reflects IR light emitted by the Position Sensor.PivotingPivoting is a procedure (of rotating a tool about its tip) used to determine the tool tip offset.Position SensorThe Position Sensor is the component of the Polaris Vicra System that provides a source of IR light for passive markers, collects marker position data from both active and passive markers, calculates tool transformations, and sends the results to the host computer.QuaternionA quaternion is a compact representation of rotations, or correspondingly, orientations in 3D space (rather than having to use orthogonal matrices).Reference ToolA reference tool is a tool or rigid body whose local coordinate system is used as a frame of reference in which other tools are reported/measured.
GlossaryPolaris Vicra User Guide - Revision 2 83Rigid BodyA rigid body is an object on which three or more markers are fixed relative to one another.Tool Definition FileA tool definition file stores information about a tool or rigid body. This includes information such as the placement of the tool's markers, the location of its origin, and its manufacturing data. A tool definition file is formatted as .rom for tools.Tool Tip OffsetThe tool tip offset is the vector between the tip of the tool and the tool origin.TransformationA transformation is a combination of translation and rotation values that describe a change of the tool or rigid body in position and orientation.Unique Geometry ToolUnique geometry tools incorporate markers positioned in such a way that, when detected in the measurement volume, the tool can be uniquely identified from other tools.
Declaration of Conformity84 Polaris Vicra User Guide - Revision 218 Declaration of ConformityFigure 18-1 is a copy of the EC Declaration of Conformity for the Polaris Vicra System.Figure 18-1 EC Declaration of Conformity
Polaris Vicra Calibration Performance and MethodologyPolaris Vicra User Guide - Revision 2 85Appendix A Polaris Vicra Calibration Performance and MethodologyStandard industry practice dictates that all measurement and testing instruments should be periodically calibrated to ensure they are operating within tolerances acceptable to the user and/or the user’s customers.The user must establish a calibration procedure and interval that is appropriate for the accuracy requirements of their application.The Position Sensor is a highly specialized instrument developed exclusively by NDI. For all calibration procedures, return the Position Sensor to NDI. This practice ensures that all calibrations are conducted in accordance with procedures established specifically for the Polaris Vicra Position Sensor.Note The NDI Accuracy Assessment Kit (AAK) can be used in the field as an aid to determine whether a Position Sensor is performing acceptably for the user’s application.If, at any time, a concern should arise that the Position Sensor is not measuring accurately, it should be returned to NDI.Note The calibration procedure at NDI applies to single markers and cannot be directly applied to an application that uses tools with several markers. A.1 Polaris Vicra PerformanceThe Polaris Vicra System performance is determined by a statistical analysis of the 3D Euclidean distance error between the reported position of an NDI marker and its true position, based on measurements taken throughout the entire Polaris Vicra System’s measurement volume. Acceptance criteria for the Polaris Vicra System’s performance are based on the RMS values of the accuracy and repeatability.The 3D RMS volumetric accuracy acceptance criterion is less than or equal to 0.25 mm, based on a single marker stepped through a statistically representative set of positions throughout the measurement volume, using the mean of 30 samples at each position at 20°C.The 3D RMS repeatability acceptance criterion is less than or equal to 0.20 mm, based on total samples of a single marker stepped through a statistically representative set of positions throughout the measurement volume, using 30 samples per position at 20°C.A.2 Calibration MethodThe following method is used to calculate the Polaris Vicra System’s accuracy and repeatability:An NDI marker is accurately moved to each of n locations (Xi, Yi, Zi) spread throughout the measurement volume. The mechanism that moves the marker is assumed to have an accuracy that is at least 10 times better than the measured accuracy of the Polaris Vicra System. This assumption allows the errors in the marker positioning to be ignored.At each of the n locations, the Polaris Vicra System takes m readings of the marker’s 3D position (xij, yij, zij).
Polaris Vicra Calibration Performance and Methodology86 Polaris Vicra User Guide - Revision 2The accuracy of the Polaris Vicra System is calculated as the RMS variation of the mean of m readings about the true 3D location calculated across all n locations throughout the measurement volume.The repeatability of the Polaris Vicra System is calculated as the RMS variation of the m readings about the average of the 3D readings at each location n. This RMS variation is calculated across all n locations throughout the measurement volume.3D average measurements: 3D RMS repeatability =xiaverage xij ,j1=m∑m----------------------------- ,= yiaverage yij ,j1=m∑m----------------------------- ,= ziaverage zij ,j1=m∑m----------------------------- =3D RMS accuracyxiaverage Xi–()2yiaverage Yi–()2ziaverage Zi–()2++i1=n∑n------------------------------------------------------------------------------------------------------------------------------------------------=xij,xiaverage–()2yij,yiaverage–()2zij,ziaverage–()2++j1=m∑i1=n∑nm⋅-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Polaris Vicra User Guide - Revision 2 87IndexIndexSymbols.rom file, 31Numerics3 marker lock on, 293D RMS error, 815DOF, 306D Architectinstallation, 216DOF, 30AAAK, 85accessories, 64accuracy, 27accuracy assessment kit, 10, 57, 58, 85acquiring tools, 28active wireless tools, 13approvals, 59audio codes, 9, 48, 51Bbackground IR light, 16, 54, 55battery, 10baud rate, 20boot loader, 58bump sensor, 10bump sensor battery, 10Ccables, 12connecting, 19cables and accessories, 64cables and connectors, 53calibration, 57, 81, 85calibration method, 85calibrator, 35CAPI Sample, 14installing, 20cautions, 2, 16CCD, 28characterization, 31characterized measurement volume, 26, 81classifications, 60codes, 48component parts list, 14connecting hardware, 19coordinate systemglobal, 26, 81local, 30, 82Ddata transmission rate, 40declaration of conformity, 84decontamination policy, 77detecting markers, 28disabled transformations, 48disclaimers, 3driversUSB, 21Eelectrical safety, 59electromagnetic compatibility, 64electromagnetic emissions, 65electromagnetic immunity, 65electrostatic discharge, 64EMC, 79EMI, 79environment, 15EPROM, 81error, 25maximum 3D, 82error codes, 48error flags, 42, 48error indicatorHost USB Converter, 11, 51Position Sensor, 8errorsout of volume, 49Fface, 81face normal, 31
88 Polaris Vicra User Guide - Revision 2Indexfield of view, 26, 81firmware, 81Firmware Update Utilityinstallation, 21flags, 25, 48out of volume, 49flash EPROM, 81frame, 81frame number, 25Ggeometry, 30global coordinate system, 26, 81Hhardware warranty, 77host computerspecifications, 6Host USB Converter, 11connecting, 19error indicator, 11mounting, 11operating environmental conditions, 62part number, 14power indicator, 11Iilluminator filter, 8illuminator ring, 82illuminators, 7, 28indicator LED, 8, 11, 51communications, 51error, 8, 51power, 8, 51status, 8information and error flags, 42infrared light sensitivity, 54, 55API command SENSEL, 56ingress protection, 10installingsoftware, 20USB drivers, 21integration time, 28, 54IR light, 16IRED, 79Kkeyed features, 24LLED, 11lights, 11line of sight, 16line separation, 29, 38, 57Linux support, 22local coordinate system, 30, 82Mmaintenance, 52markerdetection, 28passive, 82phantom, 38marker geometry, 30marker Information, 50marker normal, 32markers, 32stray, 37maximum 3D error, 31, 82maximum marker angle, 32, 82measurement volume, 6, 26minimum number of markers, 29, 32minimum spread, 33missing transformations, 48mountingHost USB Converter, 11Position Sensor, 9mounting post, 32MRI, 17NNDI, 79NDI 6D Architectinstallation, 21NDI CAPI Sample, 14installing, 20NDI Firmware Update Utilityinstallation, 21NDI Sensitivity Utilityinstallation, 21NDI ToolBox, 8, 14
Polaris Vicra User Guide - Revision 2 89Indexerror messages, 72installing, 21normalsface, 31marker, 32Ooffset, 35operating environment, 16operating environmental conditionsHost USB Converter, 62Position Sensor, 61power adapter, 63optical radiation safety, 59orientation of tool, 25origin of a tool, 35out of volume, 27, 49overview, system, 6Pparameterminimum number of markers, 32minimum spread, 33parameters, 31, 34maximum 3D error, 31maximum marker angle, 32part numberHost USB Converter, 14position sensor, 14Power Adapter, 14USB cable, 14partially out of volume, 27parts list, 14passive marker, 82Passive Sphere Markers, 38passive sphere markers, 32sterilization, 39passive tools, 13phantom markers, 38pivot, 45pivoting, 36, 82port status flags, 49position of tool, 25Position Sensor, 7, 28, 82cleaning, 52connector, 9front view, 8mounting, 9operating environmental conditions, 61rear view, 9technical specifications, 61temperature, 75Position Sensor cable, 12post, 32power adapter, 12operating environmental conditions, 63technical specifications, 63transportation and storage environmental con-ditions, 63power adapter cable, 12power indicatorHost USB Converter, 11, 51Position Sensor, 51power LED, 8Qquaternion, 25Rreference tool, 36, 44, 82resolution, screen, 7return procedure, 77RF, 79rigid body, 83RMA number, 77RMS error, 25Ssafetyelectrical, 59optical radiation, 59screen resolution, 7SENSEL command, 56sensitivity to IR light, 54, 55API command SENSEL, 56changing the IR sensitivity level, 55Sensitivity Utilityinstallation, 21sensor, 8separation distances, 68set as reference, 44setting a tool as reference, 44software, 14installing, 20NDI CAPI Sample, 14NDI ToolBox, 14ToolBox, 56
90 Polaris Vicra User Guide - Revision 2Indexwarranty, 77specificationshost computer, 6statusmarker, 25system, 25tool, 25status LED, 8stray markers, 26, 37strober voltage, 54support site, 4system indications, 70system overview, 6system software, 14system status, 25Ttemperature, 17tip offset, 35tool definition file, 13, 31, 83tool information flags, 50tool tip offset, 35, 45, 83tool tracking parameters, 31, 34tool tracking utility, 41ToolBox, 14, 56, 75installing, 21tools, 135DOF, 306DOF, 30acquiring, 28geometry, 30multi-face, 30tracking, 28using as reference, 36, 82tracking error, 25tracking flags, 25tracking tools, 28, 41transformation, 83transformationsout of volume, 26transportation and storage environmental conditionsHost USB Converter, 62Position Sensor, 62power adapter, 63trigger level, 28, 54Uunique geometry, 30, 83unpacking the system, 15update information, 4USB, 79USB cable, 12USB drivers, 21Vvirtual serial port, 76Wwarnings, 1warranty, 77general provisions, 78hardware, 77software, 77

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