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Northern Digital Passive Polaris Vega User Manual

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Passive Polaris Vega User Guide
Revision 6, Part # IL-1070257
November 2017

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  • Page 1 Passive Polaris Vega User Guide Revision 6, Part # IL-1070257 November 2017...
  • Page 2 Changed the warning that the system should not be connected to any host computer that is not IEC 60950 and/or IEC 60601 approved to include the same requirement for the network connection Part #: IL-1070257 Copyright 2016-2017 Northern Digital Inc. All Rights Reserved.
  • Page 3 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.
  • Page 4 Passive Polaris Vega User Guide...

  • Page 5: Table Of Contents

    3 Tutorial: Learning to Use the Passive Polaris Vega System .......
  • Page 6 4.6 Passive Polaris Vega System Tools ........
  • Page 7 9 Calibration and Firmware ............65 9.1 Checking the Calibration of the Passive Polaris Vega System ....65 9.2 Updating the Firmware .
  • Page 8 A.1 Passive Polaris Vega Performance ........
  • Page 9 Figure 4-5 Active Wireless Tool Timing Diagram ........35 Passive Polaris Vega User Guide...
  • Page 10 Figure B-1 Vega Video Camera Field of View ........95 Passive Polaris Vega User Guide...
  • Page 11 Table C-2 Adjusting RGB gains ............97 Passive Polaris Vega User Guide...
  • Page 12 List of Figures viii Passive Polaris Vega User Guide...

  • Page 13: Read Me First

    Read Me First! ® This guide provides detailed information about using the Passive Polaris Vega Optical Tracking System. Read this section before continuing with the rest of the guide. Warnings In all NDI documentation, warnings are marked by this symbol. Follow the information in the accompanying paragraph to avoid personal injury.
  • Page 14 20. 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 Passive Polaris Vega User Guide...

  • Page 15: Cautions

    Accel TBWipes and Meliseptol can also be used. 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. Passive Polaris Vega User Guide...

  • Page 16: Disclaimers

    Connecting to the “out port” could cause damage to the adapter. Disclaimers 1. Read the entire Passive Polaris Vega User Guide before attempting to operate the Polaris Vega System. 2. This device complies with Part 15 of the FCC Rules. Operation is subject to the following two...

  • Page 17: Updates

    NDI 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: https://support.ndigital.com Passive Polaris Vega User Guide xiii...
  • Page 18 Passive Polaris Vega User Guide...

  • Page 19: Passive Polaris Vega System Overview

    Passive Polaris Vega System Overview Passive Polaris Vega System Overview Introduction This user guide provides information on the Polaris Vega System. The Polaris Vega System is an optical measurement system that uses advanced optical measurement technology to track the 3D position and orientation of markers attached to application-specific tools.

  • Page 20: System Connection

    Passive Polaris Vega System Overview 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.

  • Page 21: System Configuration Options

    Passive Polaris Vega System Overview System Configuration Options The Polaris Vega System is available in a number of configurations and may include the positioning laser and video camera, detailed below. Optional Video Camera Optional Positioning Laser Figure 1-4 Positioning Laser and Video Camera Options...

  • Page 22: Ethernet Switch

    The Position Sensor is the main component of the Polaris Vega System. Its main function is to track the position and orientation of markers attached to tools. • For more information on tools, see “Passive Polaris Vega System Tools” on page • For a detailed description of how the Position Sensor detects markers, see “Marker Detection and Tool Tracking”...

  • Page 23: Table 1-1 Position Sensor Indicator Leds Summary

    Passive Polaris Vega System Overview Indicator LEDs The power and error LEDs on the front of the Position Sensor combine as described Table 1-1 to indicate the status of the Position Sensor: Table 1-1 Position Sensor Indicator LEDs Summary Power LED...

  • Page 24: Figure 1-6 Position Sensor Rear View

    Passive Polaris Vega System Overview Rear View Grounding Serial Number Label Ethernet Point Connector Laser Label Laser Activation Mounting Not Used Port Connector point (4) Figure 1-6 Position Sensor Rear View The rear of the Position Sensor incorporates the following components: Mount Four M4 x 0.7 mm pitch x 10 mm deep threaded holes.

  • Page 25: Cables And Accessories

    Passive Polaris Vega System Overview Figure 1-8 Position Sensor Serial Number Label Audio Codes In addition to the indicator LEDs, the Position Sensor emits audio tones to alert the user to events. The codes are interpreted as follows: • Two beeps are emitted on reset or when power is applied to the Position Sensor. (This feature can be disabled using NDI ToolBox software, or by setting the value of the user parameter Param.System Beeper to 0.)

  • Page 26: Figure 1-9 Passive Tool

    Passive Polaris Vega System Overview Passive Sphere Markers Figure 1-9 Passive Tool The Polaris Vega System can track passive tools and (optionally) active wireless tools. The Position Sensor tracks tools based on the geometry of the markers on the tools. The Position Sensor requires a tool definition file for each tool.

  • Page 27: Ndi Software

    “Tool Definition File” on page 37. Polaris Vega System tools are described in more detail in “Passive Polaris Vega System Tools” on page 33. For information on tool design and construction, refer to the Polaris Tool Design Guide. Number of Tools The system can simultaneously track up to 25 passive tools and 6 active wireless tool, but the total number of tools loaded cannot exceed 25.

  • Page 28: Setting Up The Passive Polaris Vega System

    Setting Up the Passive Polaris Vega System Setting Up the Passive Polaris Vega System This chapter provides instructions and information required to set up the Polaris Vega System for use. This chapter contains the following sections: • “Unpacking the System” on page 10 •...
  • Page 29 Setting Up the Passive Polaris Vega System operating normally if it is used either adjacent to, or stacked with, other equipment. Failure to do so may result in personal injury. 5. Radio frequency communications equipment, including portable and mobile devices, may affect the Polaris Vega System and result in personal injury.

  • Page 30: Mounting The Position Sensor

    Setting Up the Passive Polaris Vega System Mounting the Position Sensor Caution! Always place the Position Sensor on a rigid support system. If not supported, the Position Sensor may fall, which may affect the calibration and damage the Position Sensor.

  • Page 31: Connecting The Hardware

    Setting Up the Passive Polaris Vega System Conductor Signal Laser switch contact input Not used Not used If you intend to design and integrate an external laser activation switch, there are certain considerations you should take into account to provide the maximum protection against electrostatic discharge (ESD): •...

  • Page 32: Application Software

    Setting Up the Passive Polaris Vega System Caution! If using a USB-to-ethernet adapter when connecting the computer to the midspan, always connect the adapter to the “in” port of the midspan (the port that does not provide power). Connecting to the “out port” could cause damage to the adapter.
  • Page 33 Setting Up the Passive Polaris Vega System Linux The following versions of Linux are supported: 64 bit Linux with Kernels 2.6.35 and higher, and 3.0 and higher Install NDI ToolBox on a Linux platform as follows: 1. On the Polaris Vega installation media, browse to Linux/install.sh.

  • Page 34: Connecting To A System

    Setting Up the Passive Polaris Vega System Windows 1. Open the Windows Start menu. 2. Select Northern Digital Inc. > ToolBox. 3. Select NDI ToolBox Uninstaller. 4. Follow the prompts to complete the removal of NDI ToolBox from your system.
  • Page 35 Setting Up the Passive Polaris Vega System Note These instructions use NDI ToolBox to perform the configuration. It is also possible to configure the network using the Vega API. Refer to the Polaris Vega Application Program Interface Guide for more information on...
  • Page 36 Setting Up the Passive Polaris Vega System Modifying the connection Once you are connected to a device, you can change the network connection through the NDI ToolBox Configure utility. 1. Select Settings and Options> Network. 2. Select the IP Method drop-down and choose the appropriate setting.
  • Page 37 Setting Up the Passive Polaris Vega System If the problem persists, it is likely due to an issue with the way your network is configured. In this case, contact your network administrator. Connecting to a system using the Polaris API In addition to using ToolBox to connect to a Vega device, you can also use the Polaris API.

  • Page 38: Tutorial: Learning To Use The Passive Polaris Vega System

    Tutorial: Learning to Use the Passive Polaris Vega System Tutorial: Learning to Use the Passive Polaris Vega System This chapter is intended as a tutorial to demonstrate the basic functionality of the Polaris Vega System using NDI ToolBox. For more detailed information on NDI ToolBox, refer to the NDI ToolBox online help.

  • Page 39: Figure 3-1 Tutorial: Ndi Toolbox Tool Tracking Window

    Tutorial: Learning to Use the Passive Polaris Vega System To View Information and Error Flags 1. Set up the system to track tools, as described in “Getting Started: Tracking Tools” on page 2. For each loaded tool definition file, there is a tab in the bottom right section of the tool tracking utility.

  • Page 40: Setting A Tool As Reference

    Tutorial: Learning to Use the Passive Polaris Vega System 2. Cover one or more markers, without touching them. The Position Sensor will no longer be able to detect the covered markers. Figure 3-3 Tutorial: Detected Markers Indicator If the Position Sensor cannot detect the minimum number of markers, NDI ToolBox will display the message “Too Few Markers”...

  • Page 41: Determining The Tool Tip Offset

    Tutorial: Learning to Use the Passive Polaris Vega System 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.

  • Page 42: Figure 3-7 Tutorial: Selecting A Tool To Pivot

    Tutorial: Learning to Use the Passive Polaris Vega System 1. Set up the system to track tools, as described in “Getting Started: Tracking Tools” on page 20. 2. Click to load a tool definition file for the probe or pointer tool.

  • Page 43: Figure 3-8 Tutorial: Pivoting Technique

    Tutorial: Learning to Use the Passive Polaris Vega System 30º to 60º Markers are facing the Divot size and shape match Position Sensor. tool tip size and shape. Figure 3-8 Tutorial: Pivoting Technique When the pivot is complete, the Pivot Result dialog appears. Click Apply Offset to report the position of the tip of the tool.

  • Page 44: How The Passive Polaris Vega System Works

    This chapter contains the following information: • “Communicating with the Passive Polaris Vega System” on page 26 • “Information Returned by the Passive Polaris Vega System” on page 27 • “Global Coordinate System and Measurement Volume” on page 28 •...

  • Page 45: Information Returned By The Passive Polaris Vega System

    How the Passive Polaris Vega System Works Information Returned by the Passive Polaris Vega System Do not use the Polaris Vega System for absolute measurements; the system is designed for relative measurements only. Treating measurements as absolute may result in an incorrect interpretation of results.

  • Page 46: Global Coordinate System And Measurement Volume

    How the Passive Polaris Vega System Works • the input voltage is out of range. The tool tracking utility of NDI ToolBox displays most of this returned information. Note For information on the API commands used to request tracking information from the Polaris Vega System, see the BX, BX2 or TX command in the Polaris Vega Application Program Interface Guide.

  • Page 47: Figure 4-2 Pyramid Volume

    How the Passive Polaris Vega System Works The Position Sensor’s performance is determined using the calibration methodology described in Appendix A on page Figure 4-2 Pyramid Volume Passive Polaris Vega User Guide...

  • Page 48: Figure 4-3 Extended Pyramid Volume

    How the Passive Polaris Vega System Works Figure 4-3 Extended Pyramid Volume Out of Volume and Partially Out of Volume Flags A 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.

  • Page 49: Marker Detection And Tool Tracking

    How the Passive Polaris Vega System Works Marker Detection and Tool Tracking Detecting Markers The Position Sensor detects active and passive markers using different methods. To detect passive markers, the Position Sensor’s illuminators flood the surrounding area with IR for the whole integration time by flashing at a default rate of 20 Hz (similar to the flash on a camera).

  • Page 50: Figure 4-4 Determining A Marker Position

    How the Passive Polaris Vega System Works Figure 4-4 Determining a Marker Position At this point the system has a set of (un-associated) 3D coordinates. The next step is to associate the 3D positions with markers on the tool. For this step the unique geometry algorithm is used. This involves determining the segment length (the distance between any pair of two 3D positions) and the segment angles (the angle between any pair of segments).

  • Page 51: Sampling Rate

    How the Passive Polaris Vega System Works Sampling Rate The sampling rate is the rate at which the system reports transformations for all the tools. The number and classification of tools being tracked affects the sampling rate. The maximum internal sampling rate of the Polaris Vega System is 60 Hz. The sampling rate is decreased as more frames are needed to track all the tools.
  • Page 52 How the Passive Polaris Vega System Works Passive sphere markers cannot be re-sterilized. NDI does not recommend that a passive marker be used if it has been sterilized a second time, as multiple cycles of sterilization may adversely affect the marker's performance. Testing has shown that there is no significant degradation in the...

  • Page 53: Figure 4-5 Active Wireless Tool Timing Diagram

    How the Passive Polaris Vega System Works Active Wireless Tool Timing Figure 4-5 Active Wireless Tool Timing Diagram Figure 4-5 illustrates the interaction between the active wireless tool and Vega. At T, Vega starts the chirp signal (the default duration is 344µs). The end of the chirp signal triggers the start of the active wireless tool IRED marker activation.
  • Page 54 How the Passive Polaris Vega System Works Active markers are physically smaller than passive sphere markers. They consist of an infrared light-emitting diode (IRED) mounted on a ceramic base. The ceramic base allows the markers to be sterilized by auto-claving.

  • Page 55: Tool Definition File

    How the Passive Polaris Vega System Works Tool Definition File A 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, face definitions, and the parameters used to track tools.

  • Page 56: Figure 4-6 Markers Normal

    How the Passive Polaris Vega System Works Marker Normal Marker Normal Passive Sphere Marker Active Marker NDI Mounting Post Figure 4-6 Markers Normal The Polaris Vega System uses the marker normal to determine which direction the marker is facing. The system measures the angle between the marker normal and each sensor, in both the Position Sensor’s xy- and yz-planes.
  • Page 57 How the Passive Polaris Vega System Works Minimum Number of Markers The minimum number of markers parameter specifies the minimum number of markers that the Position Sensor must use in the calculation of a tool transformation. If the system cannot calculate a transformation using the minimum number of markers, it will report the tool as MISSING.

  • Page 58: Tool Tip Offset

    How the Passive Polaris Vega System Works Figure 4-8 Flowchart of Tool Tracking Parameters Tool Tip Offset Do not use a tool with a tip without first verifying the tip offset. Any application that uses a tool with a tip must provide a means to determine the location of the tip.

  • Page 59: Figure 4-9 Sample Calibrator

    How the Passive Polaris Vega System Works 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;...

  • Page 60: Reference Tools

    How the Passive Polaris Vega System Works Pivoting You can also determine the tool tip offset using a process called pivoting, using the NDI ToolBox. During the pivoting procedure, the Polaris Vega System will measure the positions of the markers while you pivot the tool.

  • Page 61: Phantom Markers

    How the Passive Polaris Vega System Works • 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. • A stray marker does not have a marker normal, so there is no way to know if the marker orientation is exceeding a particular angle.

  • Page 62: System Spectral Response

    How the Passive Polaris Vega System Works farther away from the Position Sensor than the actual markers, but this is not the only possible scenario. The number of phantom markers increases with the number of coplanar markers. When there are n coplanar markers, there will be up to n •...
  • Page 63 How the Passive Polaris Vega System Works track more tools and select more options. The slower update rate is not significant, unless a large amount of data is being transferred, for example, image data. 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.

  • Page 64: Additional System Features

    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 https://support.ndigital.com. Passive Polaris Vega User Guide...

  • Page 65: Positioning Laser

    Patients undergoing medical procedures may be restricted in the availability of adverse-effects reflexes (turning away eyes and/or head, closing eyes) due to pharmaceutical influences and/or mechanical restraints. The Class 2 laser module on the Position Sensor emits radiation that is Passive Polaris Vega User Guide...

  • Page 66: Keyed Features

    If the Polaris Vega System is incorporated into another product, the laser safety information must be included in the product manual. Keyed Features In addition to the base configuration, certain options are available from NDI as keyed features for the Polaris Vega System. Currently available keyed features are: Passive Polaris Vega User Guide...
  • Page 67 To enter the password, use NDI ToolBox or use the API command SET to set the value of the user parameter Config.Password to the correct password. If the system is subsequently reset or Passive Polaris Vega User Guide...
  • Page 68 Unlike the other keyed features, the positioning laser cannot be purchased after you obtain the system; it must be installed when the system is manufactured. For full details on the positioning laser, see “Positioning Laser” on page Passive Polaris Vega User Guide...
  • Page 69 Additional System Features Passive Polaris Vega User Guide...

  • Page 70: Video Camera

    0 disables video streaming. • In the ToolBox Configure utility, expand the Polaris Vega node. Navigate to Settings and Options> Video Camera and set the Allow Streaming option to Enabled. See Figure 6-2 on page Passive Polaris Vega User Guide...

  • Page 71: Figure 6-2 Enabling Video Streaming

    1. In the VLC main window, select Media> Open Network Stream. 2. In the Open Media screen, enter the URL as shown above. Refer to Figure 6-3 for a specific example of the URL. Passive Polaris Vega User Guide...

  • Page 72: Figure 6-3 Streaming With Vlc

    If you encounter errors when trying to stream to the VLC media player, you may need to configure VLC as follows. 1. In the VLC main window, select Tools> Preferences then click on Input/Codecs. 2. At the bottom of the screen, choose the HTTP option. See Figure 6-4. Passive Polaris Vega User Guide...

  • Page 73: Figure 6-4 Vlc Configuration

    Video Camera Figure 6-4 VLC configuration Passive Polaris Vega User Guide...

  • Page 74: Lighting Presets

    “Other Image Adjustments” on page 57 for details. Resolution Presets The video camera software comes with a series of predetermined resolution options. The higher the resolution, the lower the frames per second. Resolution presets are as follows: Passive Polaris Vega User Guide...

  • Page 75: Other Image Adjustments

    Streaming Adjustments The user parameter VCU-0.Param.Stream Preset prioritizes camera output based on quality, latency or compression. Depending on the priority selected, trade-offs are made. Passive Polaris Vega User Guide...

  • Page 76: Configuring The Video Camera Using Ndi Toolbox

    Follow the instructions below to use the NDI ToolBox Configure utility. 1. Once ToolBox is installed on a Windows system, start the Configure utility from the Windows Start menu. Open the Start menu, then select All Programs> Northern Digital> ToolBox> Configure. Passive Polaris Vega User Guide...

  • Page 77: Figure 6-5 Video Camera Configuration Options In Toolbox

    5. In the panel on the right of the main page, use the various settings to adjust the configuration of the video camera for your environment. See Figure 6-5. Figure 6-5 Video camera configuration options in ToolBox Passive Polaris Vega User Guide...

  • Page 78: Maintenance

    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. Clean the video camera aperture in the same manner, if it is part of your system. Passive Polaris Vega User Guide...

  • Page 79: Disposal Of Equipment

    Position Sensor case onto the illuminator filters or lenses. Avoid prolonged contact between the wipes and the Position Sensor. Disposal of Equipment To ensure environmentally responsible disposal after the equipment is decommissioned, please contact NDI. See “Contact Information” on page xii. Passive Polaris Vega User Guide...

  • Page 80: Setting The Infrared Light Sensitivity

    Polaris Vega Position Sensor to ignore background IR light of different levels. The relationship between trigger levels and integration time for each sensitivity level is shown in Figure 8-1. Passive Polaris Vega User Guide...

  • Page 81: Changing The Sensitivity Level

    If 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,BX2 or TX command. If the IR interference flag is intermittently or constantly on for any of the tools, there may be background IR present. Passive Polaris Vega User Guide...
  • Page 82 Param.Tracking.Sensitivity. The changed value will persist until the system is reset or initialized. To save the changed value (program it as the default setting in the Position Sensor memory), use the API command SAVE. See the Polaris Vega Application Program Interface Guide for details. Passive Polaris Vega User Guide...

  • Page 83: Calibration And Firmware

    Calibration and Firmware Calibration and Firmware Checking the Calibration of the Passive Polaris Vega System The 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.
  • Page 84 The NDI ToolBox online help explains how to use NDI ToolBox to select which combined firmware revision the system will use. The Polaris Vega Application Program Interface Guide explains how to select a combined firmware revision using API commands. Passive Polaris Vega User Guide...

  • Page 85: Approvals

    IEC 60825-1 (2014) and IEC 60825-1 (2007) • FDA/CDRH 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007 Note For information on laser operation, see “Positioning Laser” on page Passive Polaris Vega User Guide...

  • Page 86: Iec 60601-1 Recommendations For The Passive Polaris Vega System

    Approvals 10.3 IEC 60601-1 recommendations for the Passive Polaris Vega System The Polaris Vega System is classified as Medical Electrical Equipment, intended for use in Health Care Facilities outside of the patient environment. The reason for use outside of the patient environment is that the system was tested using an IEC 60950 certified power supply.

  • Page 87: Classifications

    Not suitable for use in the presence of a flammable anaesthetic mixture with air, oxygen or nitrous oxide Mode of operation Continuous when supplied by mains Method of sterilization or disinfection Not suitable for sterilization Laser classification Class 2 IRED illuminators risk group Exempt Passive Polaris Vega User Guide...

  • Page 88: Technical Specifications

    Table 12-2 Transportation and Storage Environmental Conditions Specification Value Atmospheric Pressure 50 kPa to 106 kPa Relative Humidity 10% to 90% non-condensing Temperature C to +50 Passive Polaris Vega User Guide...

  • Page 89: Technical Specifications

    The IEC 60601-1 tested system includes a PoE power injector with the following specifications: • Input 100-240 VAC, 0.8 A, 50/60 Hz • Output 55 VDC, 0.6 A, LPS Video Camera Technical Specifications Table 12-4 Specification Value Aperture f/4.0 Focal Length 7.5mm Passive Polaris Vega User Guide...

  • Page 90: Electromagnetic Compatibility

    Guidance and Manufacturer's Declaration: Electromagnetic Emissions The Polaris Vega System is intended for use in the electromagnetic environment specified below. The customer or the user of the Polaris Vega System should assure that it is used in such an environment Passive Polaris Vega User Guide...

  • Page 91: Guidance And Manufacturer's Declaration: Electromagnetic Immunity

    ±1 kV line(s) to ±1 kV differential mode Mains power quality should be that line(s) Surge of a typical commercial or hospital IEC 61000-4-5 ±2 kV line(s) to ±2 kV common environment. earth mode Passive Polaris Vega User Guide...

  • Page 92: Table 13-3 Electromagnetic Immunity-Not Life Supporting

    Polaris Vega IEC 61000-4-6 80 MHz System, including cables, than the recommended separation distance calculated from the equation applicable to the frequency of the transmitter. Recommended separation distance: d = 1,2√P Table 13-4 on page Passive Polaris Vega User Guide...

  • Page 93: Recommended Separation Distances

    The Polaris Vega System is intended for use in an electromagnetic environment in which radiated RF disturbances are controlled. The customer or the user of the Polaris Vega System can help prevent electromagnetic interference by maintaining a minimum distance between portable and Passive Polaris Vega User Guide...

  • Page 94: Table 13-4 Recommended Separation Distances Between Portable And Mobile Rf Communications Equipment And The

    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. Passive Polaris Vega User Guide...

  • Page 95: Radio Frequency Emissions

    — 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. Changes or modifications not expressly approved by Northern Digital Inc. could void the user’s authority to operate the equipment.

  • Page 96: Troubleshooting

    80. You can diagnose the fault by using the GET command to read the Info.Status.Alerts user parameters, or by observing the error message in the Configure utility of NDI ToolBox. For details on the Info.Status.Alerts user parameters, see the Polaris Vega Application Program Interface Guide. Passive Polaris Vega User Guide...

  • Page 97: Leds

    An error is returned. The error code indicates the nature of the error. Error codes are listed in the Polaris Vega Application Program Interface Guide. Non-recoverable fault. Return the Position Sensor to NDI for service. Passive Polaris Vega User Guide...

  • Page 98: Audio Codes

    It may be possible to synchronize other devices with the Polaris Vega 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 https://support.ndigital.com. Passive Polaris Vega User Guide...
  • Page 99 Troubleshooting The Passive Polaris Vega System is tracking some tools, but not others As 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 Vega System, which make certain tool designs more sensitive to loss of calibration than others.
  • Page 100 The Polaris Vega System does not have full functionality, or is behaving intermittently Check the connection between the Position Sensor cable and the Position Sensor. A loose connection may result in partial functionality or unpredictable system behaviour. Passive Polaris Vega User Guide...

  • Page 101: Return Procedure And Warranty

    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 Passive Polaris Vega User Guide...
  • Page 102 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). Passive Polaris Vega User Guide...

  • Page 103: Declaration Of Conformity

    Declaration of Conformity Declaration of Conformity Passive Polaris Vega User Guide...
  • Page 104 Declaration of Conformity Passive Polaris Vega User Guide...

  • Page 105: Abbreviations And Acronyms

    Limited Power Source MOOP Means of Operator Protection Magnetic Resonance Imaging Northern Digital Inc. Power Over Ethernet Random Access Memory Radio Frequency Red Green Blue Ring Indicator Return Materials Authorization Root Mean Square Underwriters Laboratories Inc. Passive Polaris Vega User Guide...

  • Page 106: Equipment Symbols

    (To avoid personal injury, consult accompanying documents.) Position Sensor On (power: connection to the mains supply) Position Sensor Error Ethernet Position Sensor Unused communication port Position Sensor Keep away from rain Packaging Fragile Packaging Retain packaging Packaging Passive Polaris Vega User Guide...
  • Page 107 Acceptable humidity during shipping Packaging Acceptable temperature during shipping Packaging Cardboard recycling indicator (Chinese) Packaging Cardboard recycling indicator (German) Packaging Paper recycling indicator (German) Packaging Cut packaging here Packaging Do not cut packaging here Packaging Passive Polaris Vega User Guide...

  • Page 108: Glossary

    Firmware is a computer program stored in an NDI hardware device and controls the Polaris Vega System. Frame A frame contains the measured positions of the markers in the field of view at a particular point in time. Passive Polaris Vega User Guide...
  • Page 109 Passive refers to the fact that the system is intended to be used with passive tools, i.e. retro-reflective spheres. The Vega system also supports the tracking of active wireless tools. Pivoting Pivoting is a procedure (of rotating a tool about its tip) used to determine the tool tip offset. Passive Polaris Vega User Guide...
  • Page 110 Unique Geometry Tool Unique 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. Passive Polaris Vega User Guide...

  • Page 111: Appendix A Passive Polaris Vega Calibration Performance

    Appendix A Passive Polaris Vega Calibration Performance and Methodology Standard 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.
  • Page 112 –  average average average ----------------------------------------------------------------------------------------------------------------------------------------------- - 3D RMS accuracy       – – –   3D RMS    i average average average repeatability = ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------- -  Passive Polaris Vega User Guide...

  • Page 113: Appendix B Video Camera Field Of View

    Figure B-1. For more information on the alignment between the video camera and measurement volume, contact NDI. See page xii for contact information. Figure B-1 Vega Video Camera Field of View QXGA 1080p 720p Passive Polaris Vega User Guide...
  • Page 114 Passive Polaris Vega User Guide...

  • Page 115: Appendix C White Balance Presets

    This will allow for better control of the white balance and achieve the target colour accuracy under predetermined and custom lighting conditions. Gain range Increment 0 – 4 0.125 4.25-8 0.25 8 - 128 Table C-2 Adjusting RGB gains Passive Polaris Vega User Guide...
  • Page 116 Passive Polaris Vega User Guide...

  • Page 117: Index

    API commands global BEEP local GETINFO data transmission rate approvals declaration of conformity audio codes decontamination policy detecting markers dimensions disclaimers dynamic range control background IR light Passive Polaris Vega User Guide...
  • Page 118 IR sensitivity level firmware about definition changing multiple versions description updating IRED flags flammable materials frame frame number keyed features gases geometry label GET command laser global coordinate system serial number grounding point Passive Polaris Vega User Guide...
  • Page 119 Position Sensor sterilization technical specifications passive system MRI environment passive tools multi firmware feature key password protection phantom markers pivoting tutorial position of tool Passive Polaris Vega User Guide...
  • Page 120 VCU-0.Param.White Balance. three-marker lock-on VCU-0.Param.White Balance. tip offset reference tool tool definition file relative measurements tool tip offset requirements, host computer tool tracking parameters return procedure ToolBox rigid body see NDI ToolBox RMA number error Passive Polaris Vega User Guide...
  • Page 121 TX command warm-up time uninstalling NDI ToolBox warnings Linux warranty general provisions Windows hardware unique geometry software unpacking the system weight update information xiii updating firmware Passive Polaris Vega User Guide...

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