IL 1070257 Passive Vega User Guide Polaris

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Passive Polaris Vega User Guide
Revision 6, Part # IL-1070257
November 2017
Copyright 2016-2017 Northern Digital Inc. All Rights Reserved.
Revision Status
Revision
Number Date Description
1 24-Aug-2016 First release
2 30-Sept-2016 Updated volume diagram in section 1.1
Minor edits made based on initial customer feedback
Added active wireless tool specification in section 4.6
Removed position sensor chirp signal specification from
section 4.6
Added section 2.6: Connecting to a system
3 19-Oct-2016 Revised section 2.6: Connecting to a system
4 03-Nov-2016 Updated ToolBox installation instructions for Linux
5 11-July-2017 Updated to include the video camera
6 27-Nov-2017 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
Passive Polaris Vega User Guide
Published by:
Northern Digital Inc.
103 Randall Dr.
Waterloo, Ontario, Canada N2V 1C5
Telephone: + (519) 884-5142
Toll Free: + (877) 634-6340
Global: + (800) 634 634 00
Facsimile: + (519) 884-5184
Website: www.ndigital.com
Copyright 2016-2017 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 LIABILITIES
Northern 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.
The Passive Polaris Vega System includes software that is distributed under the GPL v2 licence. NDI will pro-
vide, on request, and for a nominal fee, a complete machine-readable copy of the corresponding source code.
For details on the GPL v2 licence refer to http://www.gnu.org/licenses/old-licenses/gpl-2.0.en.html.
Passive Polaris Vega User Guide
Table of Contents
Passive Polaris Vega User Guide i
Table of Contents
Read Me First! . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ix
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .ix
Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xi
Disclaimers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Contact Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii
Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xiii
1 Passive Polaris Vega System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 System Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 System Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.4 Host Computer Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.5 Ethernet Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.6 Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.7 Cables and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.8 Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.9 NDI Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 Setting Up the Passive Polaris Vega System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1 Unpacking the System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Operating Environment Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Mounting the Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.4 Connecting the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.5 Application Software. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.6 Connecting to a System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3 Tutorial: Learning to Use the Passive Polaris Vega System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.1 Getting Started: Tracking Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 Triggering Information and Error Flags . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.3 Setting a Tool as Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4 Determining the Tool Tip Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Table of Contents
ii Passive Polaris Vega User Guide
4 How the Passive Polaris Vega System Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.1 Communicating with the Passive Polaris Vega System. . . . . . . . . . . . . . . . . . . . . . . 26
4.2 Information Returned by the Passive Polaris Vega System. . . . . . . . . . . . . . . . . . . . 27
4.3 Global Coordinate System and Measurement Volume . . . . . . . . . . . . . . . . . . . . . . . 28
4.4 Marker Detection and Tool Tracking. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.5 Sampling Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.6 Passive Polaris Vega System Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.7 Tool Definition File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.8 Tool Tracking Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.9 Tool Tip Offset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.10 Reference Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.11 Stray Marker Reporting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.12 Phantom Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.13 System Spectral Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
4.14 Data Transmission Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5 Additional System Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.1 Bump Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
5.2 Positioning Laser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
5.3 Keyed Features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
6 Video Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6.1 Video Streaming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6.2 Lighting Presets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6.3 Resolution Presets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
6.4 Other Image Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
6.5 Configuring the video camera using NDI ToolBox. . . . . . . . . . . . . . . . . . . . . . . . . . 58
7 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.1 Cleaning the Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
7.2 Disposal of Equipment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
8 Setting the Infrared Light Sensitivity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
8.1 Infrared Light Sensitivity Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table of Contents
Passive Polaris Vega User Guide iii
8.2 Changing the Sensitivity Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9 Calibration and Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.1 Checking the Calibration of the Passive Polaris Vega System . . . . . . . . . . . . . . . . . 65
9.2 Updating the Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10 Approvals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
10.1 Electrical Safety and Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . . . . . 67
10.2 Optical Radiation Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
10.3 IEC 60601-1 recommendations for the Passive Polaris Vega System . . . . . . . . . . 68
11 Classifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
12 Technical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
12.1 Operating Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
12.2 Transportation and Storage Environmental Conditions . . . . . . . . . . . . . . . . . . . . . 70
12.3 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
13 Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
13.1 Cables and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
13.2 Guidance and Manufacturer's Declaration: Electromagnetic Emissions. . . . . . . . . 72
13.3 Guidance and Manufacturer’s Declaration: Electromagnetic Immunity. . . . . . . . . 73
13.4 Recommended Separation Distances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
13.5 Radio Frequency Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
14 Troubleshooting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
14.2 LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
14.3 Audio Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
14.4 Common Problems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Table of Contents
iv Passive Polaris Vega User Guide
15 Return Procedure and Warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
15.1 Return Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
15.2 Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .83
16 Declaration of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
17 Abbreviations and Acronyms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
18 Equipment Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
19 Glossary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Appendix A Passive Polaris Vega Calibration Performance
and Methodology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
A.1 Passive Polaris Vega Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
A.2 Calibration Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Appendix B Video Camera Field of View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Appendix C White Balance Presets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
List of Figures
Passive Polaris Vega User Guide v
List of Figures
Figure 1-1 Polaris Vega Measurement Volume. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Figure 1-2 Polaris Vega Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Figure 1-3 Typical System Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
Figure 1-4 Positioning Laser and Video Camera Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Figure 1-5 Position Sensor (with Laser and Video Camera Options) Front View . . . . . . . . . . . . 4
Figure 1-6 Position Sensor Rear View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Figure 1-7 Position Sensor Laser Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Figure 1-8 Position Sensor Serial Number Label . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 1-9 Passive Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 2-1 Position Sensor Mounting Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 3-1 Tutorial: NDI ToolBox Tool Tracking Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 3-2 Tutorial: “Partially Out of Volume” Flag. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 3-3 Tutorial: Detected Markers Indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 3-4 Tutorial: “Too Few Markers” Flag. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 3-5 Tutorial: “Exceeded Max Marker Angle” Indicator. . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 3-6 Tutorial: Selecting a Reference Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 3-7 Tutorial: Selecting a Tool to Pivot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 3-8 Tutorial: Pivoting Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 3-9 NDI ToolBox Software: Pivot Result Dialog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 4-1 Global Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 4-2 Pyramid Volume. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 4-3 Extended Pyramid Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 4-4 Determining a Marker Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 4-5 Active Wireless Tool Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
List of Figures
vi Passive Polaris Vega User Guide
Figure 4-6 Markers Normal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 4-7 Actual Range of Use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 4-8 Flowchart of Tool Tracking Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Figure 4-9 Sample Calibrator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Figure 4-10 Phantom Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Figure 5-1 Position Sensor Laser Label. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Figure 6-1 Video Camera Option. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
Figure 6-2 Enabling video streaming. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53
Figure 6-3 Streaming with VLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54
Figure 6-4 VLC configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 6-5 Video camera configuration options in ToolBox . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Figure 8-1 Vega Linear Sensitivity Levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Figure B-1 Vega Video Camera Field of View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
List of Tables
Passive Polaris Vega User Guide vii
List of Tables
Table 1-1 Position Sensor Indicator LEDs Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table 4-1 Actual Range of Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 11-1 Classifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Table 12-1 Operating Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Table 12-2 Transportation and Storage Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . 70
Table 12-3 Position Sensor Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Table 12-4 Video Camera Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Table 13-1 Manufacturer’s Declaration for Electromagnetic Emissions . . . . . . . . . . . . . . . . . . 73
Table 13-2 Electromagnetic Immunity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Table 13-3 Electromagnetic Immunity—Not Life Supporting . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Table 13-4 Recommended Separation Distances between Portable and
Mobile RF Communications Equipment and the
Vega System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Table 14-1 Position Sensor Indicator LEDs Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Table 14-2 Audio Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Table 18-1 Equipment Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Table C-1 Video appearance presets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Table C-2 Adjusting RGB gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
List of Figures
viii Passive Polaris Vega User Guide
Passive Polaris Vega User Guide ix
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.
1. Do not use the Polaris Vega 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 connect the Polaris Vega System to a host computer or network that is not IEC 60950
and/or IEC 60601 approved. If you connect the system to a non-approved host computer or
network you may increase leakage currents beyond safe limits and cause personal injury.
3. 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.
4. Do not protect or shield either the Position Sensor or tools with methods not approved by NDI.
Non-approved methods, such as drapes or covers, 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. Inaccurate conclusions may
result in personal injury.
5. The Polaris Vega System requires special precautions regarding EMC. It must be installed and
put into service in accordance with the EMC information detailed in “Electromagnetic
Compatibility” on page 72. Failure to do so may result in personal injury.
6. Radio frequency communications equipment, including portable and mobile devices, may affect
the Polaris Vega System and result in personal injury.
7. Do not use the Polaris Vega System either adjacent to, or stacked with, other equipment as this
may cause the equipment to over heat. Check that the Polaris Vega System is operating normally
if it is used either adjacent to, or stacked with, other equipment. Failure to do so may result in
personal injury.
8. 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 Vega
System and may result in personal injury.
9. Do not incorporate non-NDI sensors with the Polaris Vega System. The accuracy of results
produced by applications that incorporate non-NDI sensors with the Polaris Vega System is
unknown. Reliance on these results may result in personal injury.
Warning!
xPassive Polaris Vega User Guide
10. All user maintenance must be done by appropriately trained personnel. Individual components
of the Polaris Vega System contain no user-serviceable parts. Maintenance by untrained
personnel may present an electric shock hazard.
11. 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.
12. Do not immerse any part of the Polaris Vega 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.
13. Do not sterilize the Polaris Vega 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. These inaccurate conclusions may result in personal injury.
14. Do not use the Position Sensor without inspecting it for cleanliness and damage before a
procedure. The Position Sensor should also be monitored during the procedure. Reliance on data
provided by an unclean or damaged Position Sensor may lead to inaccurate conclusions.
Inaccurate conclusions may result in personal injury.
15. 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. These incorrect interpretations may result in personal injury.
16. Do not rely on unqualified 3D results for stray markers. There are no built-in checks to
determine if the 3D results for stray markers represent real markers, phantom markers or IR
interference, so the host application must identify and qualify the reported 3D results for stray
markers. Reliance on unqualified 3D data may lead to inaccurate conclusions. Inaccurate
conclusions may result in personal injury.
17. Do not use a wireless tool whose design does not conform to the Polaris Vega System's unique
geometry constraints. When a Polaris Vega 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. When two indistinguishable tools are being used, the first tool
that is detected will be tracked. If that tool moves out of the measurement volume, the second
tool will be tracked. If this is repeated, the tracking data will appear to jump between the two
tools. Reliance on data produced by two indistinguishable tools can lead to inaccurate
conclusions. These inaccurate conclusions increase the possibility of personal injury.
18. 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. Reliance on data produced
by a tool with an inaccurate tip offset may lead to inaccurate conclusions. These inaccurate
conclusions may result in personal injury.
19. 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. Inaccurate conclusions may result in personal injury.
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 xi
Position Sensor that is outside of recommended thresholds may lead to inaccurate conclusions.
Inaccurate conclusions may result in personal injury.
21. Do not use the Position Sensor in an MRI environment without first determining the
performance, including accuracy, of the Position Sensor in an MRI environment. The Polaris
Vega System is conditionally MRI safe, but NDI has not fully validated the Position Sensor in
an MRI environment. It is unknown whether reliance on data provided by a Position Sensor in
an MRI environment may lead to inaccurate conclusions. Reliance on inaccurate conclusions
may result in personal injury.
22. Do not look directly into the laser-emitting aperture. The Class 2 laser module on the Position
Sensor emits radiation that is visible and may be harmful to the human eye. Direct viewing of
the laser diode emission at close range may cause eye damage.
23. Do not use controls, adjustments, or performance of procedures other than specified in this
guide as it may result in hazardous light exposure.
24. Ensure that people with restricted movement or reflexes (for example, patients undergoing
medical procedures) do not look directly into the laser-emitting aperture. 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 visible and
may be harmful to the human eye. Direct viewing of the laser diode emission at close range may
cause eye damage.
25. Position the system components so that they can be easily disconnected from mains power.
Failure to do so may result in an electric shock hazard and possible personal injury.
26. The Vega system is classified as Medical Electrical Equipment, intended for use in health care
facilities outside of the patient environment. The Vega system can be used in the patient
environment as long as it is tested in the final end user configuration.
Cautions
Caution! 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 Vega System, repack it in the original containers with all protective
packaging. The provided packaging is designed to prevent damage to the equipment.
2. 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.
3. Use only 70% isopropanol solution and a soft lint-free cloth to remove handling smudges from
the enclosure or illuminator covers. 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.
xii Passive Polaris Vega User Guide
4. Do not handle the passive 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.
5. 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.
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
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 “Radio Frequency Emissions” on page 77 for further information.
3. The user must determine the suitability of the Polaris Vega System for their own application.
4. This equipment has been investigated with regard to safety from electrical shock and fire
hazard. The inspection authority has not investigated other physiological effects.
5. The Polaris Vega Position Sensor requires a thermal stabilization period in order to provide
reliable measurements. When the Position Sensor is powered on, the power light will flash to
indicate that the system is warming up. When the light stops flashing, the system is ready for
use.
6. Northern Digital Inc. has not investigated the implications of incorporating the Polaris Vega
Position Sensor with an automatic position device, or any other automated closed loop systems.
Using the Polaris Vega System in such an application is solely the responsibility of the user.
7. The Polaris Vega System emits IR light that may interfere with IR-controlled devices, such as
operating room tables. It is recommended that you test the Polaris Vega System if you intend to
use it in an environment where other IR-controlled devices are in use.
8. Northern Digital Inc. has not validated the Polaris Vega System in the presence of x-ray, gamma
ray, proton radiation or other types of radiation. If the Polaris Vega System is used in such an
environment, the user is responsible for determining the performance of the system.
Contact Information
If you have any questions regarding the content of this guide or the operation of this product, please
contact us:
Passive Polaris Vega User Guide xiii
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
xiv Passive Polaris Vega User Guide
Passive Polaris Vega System Overview
Passive Polaris Vega User Guide 1
1 Passive Polaris Vega System Overview
1.1 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. The tools are tracked
within a specific measurement volume, see Figure 1-1.
This section provides an overview of the system, its components, and how it works. NDI
recommends that you read the guide completely before using the system.
Figure 1-1 Polaris Vega Measurement Volume
Note The back section of the measurement volume, 2400 mm to 3000 mm from the Position Sensor, is only available in
the optional extended pyramid volume.
The Polaris Vega System is typically used in research applications, or can be integrated by OEM
partners into image guided surgery suites for use in procedures such as neurosurgery, orthopaedics
or radiotherapy. The main system component is the Position Sensor, (page 4). The Position Sensor
connects to a host computer via ethernet (page 2).
An overview of system 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
markers (on passive tools) or triggers markers to activate and emit IR light (on active wireless
tools).
1856 mm
1566 mm
1312 mm
1470 mm
2400 mm 3000 mm
950 mm
480 mm
448 mm
1144 mm
796 mm
1532 mm
Measurement Volume
Position Sensor
Passive Polaris Vega System Overview
2Passive Polaris Vega User Guide
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.
Figure 1-2 Polaris Vega Position Sensor
1.2 System Connection
The ethernet connection allows multiple Position Sensors to be synchronized and controlled by one
host computer. Power for the Position Sensor(s) is supplied via Power over Ethernet (PoE). A block
diagram is shown below and for detailed information, see “Connecting the Hardware” on page 13.
Figure 1-3 Typical System Connection
Note The Vega system is classified as Medical Electrical Equipment, intended for use in health care facilities outside of
the patient environment. The Vega system can be used in the patient environment as long as it is tested in the
final end user configuration.
Ethernet and PoE
Ethernet
Network switch or
router (customer
supplied)
To host computer
(customer supplied)
Multiple Position
Sensors can be
connected
Passive Polaris Vega System Overview
Passive Polaris Vega User Guide 3
1.3 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.
Figure 1-4 Positioning Laser and Video Camera Options
Positioning Laser
The optional positioning laser, located on the Position Sensor, indicates the general centre of the
characterized measurement volume within a tolerance. For details on the positioning laser see
“Positioning Laser” on page 47.
Video Camera
The optional video camera, located in the centre of the Position Sensor, provides a live video stream
of the measurement volume. See Figure 1-4. The video camera is not used for tracking tools, but it is
closely oriented with the two sensors that do track tools. For information regarding the alignment of
the video camera field of view and the Vega characterized measurement volume, refer to the
appendix “Video Camera Field of View” on page 95.
1.4 Host Computer Requirements
A (customer supplied) host computer is required to operate the system. The host computer must be
approved to IEC 60950 or IEC 60601 standard and should meet the following minimum
specifications:
1 GHz or faster 32-bit (x86) or 64-bit (X64) processor
1 GB RAM (32-bit) or 2GB RAM (64 bit)
16 GB available hard disk space (32-bit) or 20 GB (64-bit)
DirectX 9 graphics device with WDDM 1.0 or higher driver
Operating system options:
- Windows 7 (64 bit), 8 and 10
- 64bit Linux Kernel 2.6.35 and later, and 3.0 and later
Optional Video Camera
Optional Positioning Laser
Passive Polaris Vega System Overview
4Passive Polaris Vega User Guide
- Mac OS X 10.10 and later
Screen resolution 1024 x 768 (1280 x 1024 recommended)
Gigabit network interface is recommended
1.5 Ethernet Switch
A (customer supplied) ethernet switch is required to operate the system. The ethernet switch must be
approved to IEC 60950 or IEC 60601 standard and meet the following minimum specifications:
An IEEE802.3at compliant Power over Ethernet (PoE) type 2 device.
1.6 Position Sensor
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 33.
For a detailed description of how the Position Sensor detects markers, see “Marker
Detection and Tool Tracking” on page 31.
Note As an option, the Position Sensor can be branded to custom specifications. For details on this option contact
NDI. See “Contact Information” on page xii.
Front View
Figure 1-5 Position Sensor (with Laser and Video Camera Options) Front View
The front of the Position Sensor incorporates the following components:
Illuminators Two arrays of infrared light-emitting diodes (IREDs) that provide IR light for
illuminating the passive sphere markers (on passive tools) and an activation trigger for active
markers (on active wireless tools).
Sensors Two sensors that each comprise a lens and an image sensor. The sensors collect IR light
that is reflected from passive sphere markers (on passive tools) or emitted from active markers (on
active wireless tools).
Passive Polaris Vega System Overview
Passive Polaris Vega User Guide 5
Indicator LEDs The power and error LEDs on the front of the Position Sensor combine as described
in Table 1-1 to indicate the status of the Position Sensor:
You may be able to diagnose the error using the Configure utility of NDI ToolBox, or using the API
command GET to read the Info.Status.Alerts user parameter. (See the Polaris Vega Application
Program Interface Guide. for details.)
Laser Aperture The (optional) positioning laser beam is emitted from this aperture.
Do not look directly into the laser-emitting aperture. The Class 2 laser module on the Position Sensor emits
radiation that is visible and may be harmful to the human eye. Direct viewing of the laser diode emission at close
range may cause eye damage.
Ensure that people with restricted movement or reflexes (for example, patients undergoing medical procedures)
do not look directly into the laser-emitting aperture. 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
visible and may be harmful to the human eye. Direct viewing of the laser diode emission at close range may
cause eye damage.
Video Camera (Optional) The “live view” video camera is a third lens and image sensor that is used
for capturing a video view of the measurement volume.
Table 1-1 Position Sensor Indicator LEDs Summary
Power LED
(Green) Error LED
(Amber) Position Sensor Status
Off Off No power
Flashing (4
times per
second)
Off The system is booting up.
Flashing (2
times per
second)
Any state The Position Sensor is warming up. The power LED will stop flashing
and light steady green when the Position Sensor is ready for use.
On Off The Position Sensor is ready for use; no faults or error conditions
On On Minor recoverable error condition (not a fault); can immediately be
corrected. If the error condition is not corrected, the system will still be
operational, but may requires the application to override the “bad data”
filter to receive tracking data.
On Flashing Major recoverable fault which prevents operation but can be repaired
by the user (for example incompatible firmware).
Off On Non-recoverable fault. Return the Position Sensor to NDI for service.
Warning!
Passive Polaris Vega System Overview
6Passive Polaris Vega User Guide
Rear View
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. (See “Mounting the Position
Sensor” on page 12 for mounting details.)
Ethernet Power and I/O Interface Provides for ethernet communications and Power over Ethernet
(PoE). The ethernet port is compatible with the IEEE 802.3at Type 2 PoE standard.
Grounding Point An M3x0.5, 6mm tapped hole to allow for a dedicated ground connection to be
fitted to the Position Sensor. (If the system end-use application use requires one.)
Laser Label The laser label is located on the back of the Position Sensor and shows the
classification, output, wavelength, standards, and a warning.
Figure 1-7 Position Sensor Laser Label
Laser Activation Port The laser is activated by means of an external (customer supplied) switch that
connects to the rear of the Position Sensor via a 3.5 mm jack socket (see Figure 1-6). You can also
activate the laser through the user parameters, see the Polaris Vega Application Program Interface
Guide for details.
Serial Number Label The serial number label is located on the back of the Position Sensor and shows
the item ID, model, serial number, and manufacture date of the Position Sensor.
Mounting
point (4)
Ethernet
Connector
Laser Label
Serial Number Label
Laser Activation
Port Connector Not Used
Grounding
Point
LASER RADIATION
Emitted from Aperture
DO NOT STARE INTO BEAM
CLASS 2 LASER PRODUCT
max. output <1mW, CW, 640nm - 670 nm
IEC 60825-1 (2014), ANSI Z136.1 (2014)
Complies with 21 CFR1040.10 and 1040.11 except for deviations
pursuant to Laser Notice No. 50, dated June 24, 2007
Passive Polaris Vega System Overview
Passive Polaris Vega User Guide 7
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.)
The API command BEEP can be used to cause the Position Sensor to emit beeps.
Note The user parameters store values for different aspects of the Polaris Vega System. To set the value of a user
parameter, use the API command SET. To retrieve a user parameter value, use the API command GET. For details
on user parameters and API commands, see the Polaris Vega Application Program Interface Guide.
Bump Sensor
The Position Sensor contains an internal bump sensor that detects when the Position Sensor has
suffered an impact that may affect its calibration. For more information on the bump sensor, see
“Bump Sensor” on page 46.
1.7 Cables and Accessories
The following cables and accessories are required to use the Polaris Vega System.
A Cat 5e or higher shielded ethernet cable.
A Power Over Ethernet midspan or endspan that conforms to the IEEE 802.3at standard,
Type 2 (25.5 W up to 30 W).
1.8 Tools
A tool is a rigid structure on which three or more markers are fixed so that there is no relative
movement between them. An example of a tool is shown in Figure 1-9.
Passive Polaris Vega System Overview
8Passive Polaris Vega User Guide
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. A tool definition file describes a tool to the Position Sensor
(including the tool’s marker geometry).
Passive Tools
The Polaris Vega System can track the positions and orientations of tools, and can also report the
positions of individual markers.
An example of a passive tool is shown in Figure 1-9. The example shows a probe that incorporates
four NDI passive sphere markers. For more information on passive tools and passive sphere
markers, see “Passive Tools” on page 33.
Passive tools can incorporate two main types of markers; passive marker spheres and Radix lenses.
Passive marker spheres are available as follows:
NDI passive sphere markers have a retro-reflective coating. The coating 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. NDI passive sphere
markers snap-fit to the tool using NDI mounting posts, which are manufactured to firmly
hold NDI spheres.
Radix lenses are retro-reflective markers that can easily be wiped off if they become dirty.
In contrast to the NDI passive sphere, the Radix lens cannot be used directly in the form it is
supplied. It must first be incorporated into a tool or mounting base (not provided by NDI).
For details on Radix lenses, their use and applications, refer to the Radix User Guide.
Active Wireless Tools
Active wireless tools incorporate active markers, which emit IR light. The tools also house an IR
receiver. An active wireless tool draws power from a battery, or from the equipment to which it is
attached.
The Position Sensor activates its illuminators, which emit IR pulses that are detected.by an IR
receiver in the active wireless tool. The IR receiver triggers the markers in the tool, which emit IR
back to the Position Sensor.
For more information on active wireless tools and active markers, see “Active Wireless Tools” on
page 34.
Passive Sphere Markers
Passive Polaris Vega System Overview
Passive Polaris Vega User Guide 9
Tool Definition Files
Each tool has a tool definition file (formatted as .rom) to describe it to the system. A tool definition
file must be loaded into the system before the system can track the associated tool. The information
stored in the tool definition file includes the geometry of the tool’s markers, the tool’s manufacturing
data, tool face definitions (for a multi-faced tool), and the parameters and settings described in “Tool
Tracking Parameters” on page 37. Without this information, the system cannot accurately interpret
the data it collects.
Note For more information on tool definition files, see “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. Note that a large number of tools and/or markers in view
may affect the speed of the system and its ability to return transformations.
Note The field of view of the Position Sensor is described on page 28. Stray markers are described on page 42.
1.9 NDI Software
The following software is included on the Polaris Vega installation media. You can also download
the software from the NDI Support Site at https://support.ndigital.com.
NDI ToolBox A suite of utilities for diagnostics, maintenance, testing, and development support for
the Polaris Vega System. NDI ToolBox also includes command line functionality, to allow you to
embed an NDI ToolBox application (such as upgrading firmware) into your application software.
See the NDI ToolBox online help for details.
NDI Combined API Sample (CAPI) A sample program, source code and documentation. This program
provides an example of how to write programs to operate the Polaris Vega System.
Setting Up the Passive Polaris Vega System
10 Passive Polaris Vega User Guide
2 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
“Operating Environment Requirements” on page 10
“Mounting the Position Sensor” on page 12
“Connecting the Hardware” on page 13
“Application Software” on page 14
“Connecting to a System” on page 16
2.1 Unpacking the System
The Polaris Vega System is usually shipped to end users with a Position Sensor, cables, and the
Polaris Vega installation media (which includes software and end user documentation). OEM
partners may receive a different configuration.
Handle all system components with care. Keep the packaging in good condition; you will need to
use it if the system needs to be returned to NDI for repair.
Note See “Return Procedure” on page 83 for instructions on returning the system to NDI.
2.2 Operating Environment Requirements
Warnings
Read the following warnings before using the Polaris Vega System, to avoid the risk of personal
injury.
1. Do not use the Polaris Vega 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, such as drapes or covers, 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. Inaccurate
conclusions may result in personal injury.
3. The Polaris Vega System requires special precautions regarding EMC. It must be installed
and put into service in accordance with the EMC information detailed in
“Electromagnetic Compatibility” on page 72. Failure to do so may result in personal
injury.
4. Do not use the Polaris Vega System either adjacent to, or stacked with, other equipment as
this may cause the equipment to over heat. Check that the Polaris Vega System is
Warning!
Setting Up the Passive Polaris Vega System
Passive Polaris Vega User Guide 11
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.
6. Do not immerse any part of the Polaris Vega 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.
7. 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. Inaccurate conclusions may result in personal injury.
8. Do not use the Position Sensor in an MRI environment without first
determining the performance, including accuracy, of the Position Sensor in an
MRI environment. The Polaris Vega System is conditionally MRI safe, but NDI
has not fully validated the Position Sensor in an MRI environment. It is unknown whether
reliance on data provided by a Position Sensor in an MRI environment may lead to
inaccurate conclusions. Reliance on inaccurate conclusions may result in personal injury.
9. Position the system components so that they can be easily disconnected from mains power.
Failure to do so may result in an electric shock hazard and possible personal injury.
To operate correctly, the system must be set up in an environment that meets the following criteria:
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 4-2 on
page 29 or Figure 4-3 on page 30 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 Vega System.
Make sure that there are no large reflective surfaces within the field of view (described on
page 28). For example, the gantry for a magnetic resonance imaging (MRI) machine has a
large 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 Vega System. For more
information, see the Polaris Tool Design Guide.
Before using the system, make sure the power LED on the Position Sensor has stopped
flashing. The power LED will flash while the Position Sensor warms up; once the LED is
steady, the system is ready for use.
The environmental conditions must be as listed in Figure 12-1 on page 70.
If the system is to be used in an MRI environment, contact NDI for information on response
of the system.
Setting Up the Passive Polaris Vega System
12 Passive Polaris Vega User Guide
2.3 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.
Note Before you design a custom enclosure or any attachments (other than mounting) for the Position Sensor, contact
NDI for assistance, see “Contact Information” on page xii.
The Position Sensor is mounted via four M4 x 0.7 mm pitch x 10 mm deep threaded holes.
Figure 2-1 shows the Position Sensor dimensions and mounting arrangement.
Figure 2-1 Position Sensor Mounting Details
External Laser Trigger Switch
The external laser trigger can be used to connect a switch to trigger the laser. This port is a four-
conductor, 3.5-mm audio jack. Only the first two conductors are used, as follows:
Conductor Signal
1 (tip) Laser switch contact input
80 50
591
103
106
/$6(5&(17(52)92/80(
,1',&$725
2x STATUS INDICATOR
4x M4X0.7 10
All dimensions in mm
Setting Up the Passive Polaris Vega System
Passive Polaris Vega User Guide 13
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):
Design the handle and select a switch that will minimise the possibility of energy flowing
into the laser switch circuits in the Position Sensor.
Electrically isolate the body of the switch from the handle, and provide a good grounding
path from the handle to earth ground. This will direct the ESD energy to flow through the
handle and to ground, instead of passing through the laser switch wiring into the Position
Sensor.
2.4 Connecting the Hardware
Warnings
Read the following warnings before using the Polaris Vega System, to avoid the risk of personal
injury.
1. 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 Vega System and may result in personal injury.
2. Do not connect the Polaris Vega System to a host computer or network that is not IEC
60950 and/or IEC 60601 approved. If you connect the system to a non-approved host
computer or network you may increase leakage currents beyond safe limits and cause
personal injury.
3. 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.
4. Do not incorporate non-NDI sensors with the Polaris Vega System. The accuracy of results
produced by applications that incorporate non-NDI sensors with the Polaris Vega System
is unknown. Reliance on these results may result in personal injury.
5. Do not use the Position Sensor without inspecting it for cleanliness and damage before a
procedure. The Position Sensor should also be monitored during the procedure. Reliance
on data provided by an unclean or damaged Position Sensor may lead to inaccurate
conclusions. Inaccurate conclusions may result in personal injury.
To connect the system, follow the procedure detailed below:
1. Connect the ethernet cable to the socket on the Position Sensor.
2 Laser switch contact input
3 Not used
4 Not used
Conductor Signal
Warning!
Setting Up the Passive Polaris Vega System
14 Passive Polaris Vega User Guide
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.
2. There are three ways to connect the PSU:
a) Connect the Position Sensor to a switch with embedded PoE.
b) Or, to a switch without embedded PoE, connect the switch to PoE and the Position Sensor to
the PoE.
c) Or, to a router, connect the router to PoE and the Position Sensor to the PoE.
3. Connect the network switch or router to the host computer.
4. It is also possible to connect the Position Sensor to the PoE which is then connected to the host
computer with no need for a switch or router.
5. Make sure all the cables are connected firmly, and placed where they will not be stressed,
stepped on, or bent.
Note Integrating the Vega Position Sensor into a 10Base-T network is not recommended.
It takes approximately 30 seconds for the Position Sensor to power up after power is applied. The
Position Sensor will emit two beeps at the end of its power up cycle, and the power LED will begin
to flash.
The Position Sensor requires a warm-up time every time it is powered on. The power LED will flash
while the Position Sensor warms up; once the LED is steady, the system is ready for use.
2.5 Application Software
ToolBox The Polaris Vega System ships with NDI ToolBox application software. ToolBox is a
collection of utilities that allow you to configure, upgrade, troubleshoot, and test the Polaris Vega
System.
NDI ToolBox is located on the Polaris Vega installation media. You can also download the
application from the NDI Support Site at https://support.ndigital.com.
Installing NDI ToolBox
To install NDI ToolBox, follow the procedure detailed below:
Windows
The following versions of Windows are supported: Windows 7, 8 and 10.
On the Polaris Vega installation media, browse to Windows 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.
Setting Up the Passive Polaris Vega System
Passive Polaris Vega User Guide 15
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.
2. Execution permissions may be required to install ToolBox. Run the following commands in the
folder where Linux/install.sh was copied to from the installation media:
sudo chmod +x install.sh
./install.sh
3. Follow the on-screen instructions to complete the process. The default installation location is
<user_name>/NDIToolBox.
Silent Install
To execute a silent install of ToolBox, run the installer from the command line with the ‘-q” option.
You can also specify a different directory than the default. For Linux, you would enter:
./installer.sh -q -dir /opt/ToolBox
If the -dir option is omitted the default install location will be used. On Linux this is
<user home>/NDIToolBox (or ~/NDIToolBox)
Mac OS X
The following versions of Mac OS are supported: 10.10 and higher
To install NDI ToolBox on a Mac platform follow the procedure detailed below:
Note To manage NDI software on a Mac platform you will need administrator account privileges.
Installing and Running NDI ToolBox
Install NDI ToolBox as follows:
1. On the Polaris Vega installation media, locate, and open, the MacOSX folder.
2. Locate and double-click on the install.dmg file. Double click on NDI Installer and enter your
administrator password.
3. Follow the on-screen instructions to complete the NDI ToolBox installation
Note The NDI ToolBox download includes a Java virtual machine (VM). 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.
Uninstalling NDI ToolBox
To uninstall NDI ToolBox, follow the procedure detailed below:
Setting Up the Passive Polaris Vega System
16 Passive Polaris Vega User Guide
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.
Linux
Navigate to the install directory and run uninstall.sh.
Mac OS X
Navigate to Applications>NDI ToolBox and double click on Uninstaller.app. Follow the on-
screen instructions.
All related NDI ToolBox files and aliases to NDI ToolBox utilities will be removed from your
system.
2.6 Connecting to a System
When you start the ToolBox software, it may automatically connect to a system, depending on the
connection options that have been set. Refer to the ToolBox online help for details about connection
options. Once ToolBox is running, you can direct it to connect to a different system.
To connect to a system
Select File > Connect to > (Polaris Vega)
ToolBox automatically detects all available Vega Position Sensors and System Control Units and
lists them at the top of the Connect to menu. You can hover over the menu item to see its IP address.
Unless the system configuration was customized, the default host name is the same as the device's
serial number, for example P9-12345. If a custom host name was set for the device, that name will
represent the device on the network.
Systems are automatically detected using the Bonjour implementation of the “Zero Configuration
Networking” approach. ToolBox uses this protocol to discover the PSUs and SCUs on the network.
You can install Apple’s Bonjour software on your host computer to have the ability to discover and
connect to the systems from the command prompt.
There are three different networking approaches that can be used to establish the connection:
1. “Dynamic Host Configuration” on page 17
2. “Zero Configuration Networking” on page 17
3. “Static IP Addressing” on page 17
Each approach is detailed below. If you encounter issues with any of these approaches, refer to
“Troubleshooting the connections” on page 18.
Setting Up the Passive Polaris Vega System
Passive Polaris Vega User Guide 17
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
modifying the connection
Dynamic Host Configuration
DHCP is generally the default network configuration for the Vega System. If there is a DHCP server
on the same network as the Vega device, then the server will automatically assign a dynamic IP
address to it and the connection to the host can be made.
If there is no response from the DHCP server in three to six seconds, the device will assign it’s own
IP parameters using Zero Configuration. (Link Local Addressing)
Zero Configuration Networking
Zero Configuration is the simplest way to network the host computer with the Vega devices. System
setup should meet the following requirements to support Zero Configuration:
The host computer and Vega devices need to be connected to each other or on a local
network with no DHCP server.
The host computer must be configured for zero configuration networking. This is the default
for Window and Mac OS. On Linux it may be enabled on a “per interface” basis.
When this criteria is met and you power on the system, the host and devices will be assigned IP
addresses on the 169.254.xxx.xxx subnet. Once this is complete, you can connect to the device by
selecting File> Connect To. The host name for each device will be composed of the device serial
number on the .local. domain. For example, P9-12345.local., where P9-12345 is the device serial
number.
Static IP Addressing
Static IP Addressing allows you to manually assign an IP address to the Vega device. When you set
a static IP address, there are three pieces of information to provide for both the device and host
computer:
the IP address (required)
the gateway (optional)
the subnet mask (optional)
Once you set up the Vega device for Static IP addressing, you must set up your host computer
network appropriately to enable the connection.
On Windows, use the Control Panel
On Mac OS, use Setup
On Linux use Yast or equivalent
Setting Up the Passive Polaris Vega System
18 Passive Polaris Vega User Guide
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.
To configure Static IP networking, select Static, then provide an IP address, gateway and
subnet mask for the device you are configuring.
If you enabled DHCP/ZeroConf there is no additional information to provide.
3. Once complete, select File > Save Parameters.
4. Reset the system by selecting File > Reset System.
Note To see the IP address of any device in the Connect To menu, hover over it.
Troubleshooting the connections
If you are unable to connect to the Vega device from the host computer, review the following
troubleshooting tips.
The device is visible in the Connect To menu but when I try to connect, I get the error message “Failed
to Connect.”
Problem: This problem occurs most frequently when static IP addressing is used. In this case, the
Vega device may not be configured properly for static IP addressing.
Solution: Configure the host computer and Vega device for static IP addressing as follows:
1. In the ToolBox Configure application, select File> Connect To. The Connect menu lists devices
found based on DNS-SD and shows the devices by service name and host name.
2. Hover over the device you are trying to connect to. An IP address will be shown in the tool tip.
Make note of this IP address.
3. Change the host network interface to be on the same subnet as the Vega device.
4. Select File > Save Parameters.
5. Reset the system by selecting File > Reset System.
6. In the NDI Configure application, attempt to connect to the Vega device again.
If the problem persists, it is likely due to an issue with the way your hardware is configured. In this
case, contact your network administrator.
When I navigate to the Connect To menu, I don’t see the Polaris Vega device I am trying to connect to.
Problem: The Vega system may not be powered on or connected to the network.
Solution: Check the Vega devices and power over ethernet midspan to ensure the devices are both
powered on and connected to the network.
Setting Up the Passive Polaris Vega System
Passive Polaris Vega User Guide 19
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. To do so,
you must connect to the system TCP listening port, which is port 8765 by default. This port is
defined as the parameter “Param.Network.Host Port” on the device. An example of connecting to a
device and asking its version information is as follows:
telnet P9-12345.local 8765
ver 4
Where P9-12345 is the device serial number/host name and ver 4 is the command to retrieve the
version information for the device.
For more information, refer to the Polaris Vega Application Program Interface Guide provided with
your system.
Tutorial: Learning to Use the Passive Polaris Vega System
20 Passive Polaris Vega User Guide
3 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. 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, and
pivot a tool to determine the tool tip offset.
3.1 Getting Started: Tracking Tools
This section describes how to set the system up to track tools.
To Set Up the System
1. Install NDI ToolBox, as described in “Installing NDI ToolBox” on page 14.
2. Set up and connect the hardware, as described in “Connecting the Hardware” on page 13.
3. Open NDI Track.
4. If NDI Track does not automatically connect to the system, select File > Connect to. Select the
system from the list, or select New Connection... Enter the host name or IP address and select
OK.
To Track Tools
1. Click to load the tool definition files for the tools you want to track.
2. In the dialog that appears, browse to the desired tool definition file(s). Hold down Ctrl and click
to select more than one file.
3. Click Open.
Once a tool definition file has been loaded, the Polaris Vega System will automatically attempt
to track the tool.
4. Move the tool throughout the characterized measurement volume, making sure the markers on
the tool face the Position Sensor.
As you move the tool, the symbol representing the tool in the graphical representation will move
to reflect the tool’s position.
3.2 Triggering Information and Error Flags
This section describes how to trigger some of the most common flags. Errors, warnings, and marker
information for each tool are displayed in the bottom right section of the tool tracking utility.
Tutorial: Learning to Use the Passive Polaris Vega System
Passive Polaris Vega User Guide 21
To View Information and Error Flags
1. Set up the system to track tools, as described in “Getting Started: Tracking Tools” on page 20.
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 3-1 Tutorial: NDI ToolBox 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 all the markers are outside
of the volume, NDI ToolBox will display the message “Out of Volume.”
Figure 3-2 Tutorial: “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.
Select a tab to display
tracking information for
a particular tool
Tutorial: Learning to Use the Passive Polaris Vega System
22 Passive Polaris Vega User Guide
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” and will not report a transformation.
Figure 3-4 Tutorial: “Too Few Markers” Flag
“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.
Figure 3-5 Tutorial: “Exceeded Max Marker Angle” Indicator
3.3 Setting a Tool as Reference
This 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. For more information on reference tools, see
“Reference Tools” on page 42.
To Set a Tool as Reference
1. Set up the system to track tools, as described in “Getting Started: Tracking Tools” on page 20.
Tutorial: Learning to Use the Passive Polaris Vega System
Passive Polaris Vega User Guide 23
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 3-6 Tutorial: Selecting a Reference Tool
4. 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.
Note The Polaris Vega 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.
3.4 Determining the Tool Tip Offset
This 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 40 for more details.
To Set Up the System to Pivot
You 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.
Select the tab for the
tool you want to set
as reference.
Tutorial: Learning to Use the Passive Polaris Vega System
24 Passive Polaris Vega User Guide
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.
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.
Figure 3-7 Tutorial: Selecting a Tool to Pivot
4. 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 Tool
1. 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.
Select the tab
corresponding to the
tool you want to pivot.
Tutorial: Learning to Use the Passive Polaris Vega System
Passive Polaris Vega User Guide 25
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.
Figure 3-9 NDI ToolBox Software: Pivot Result Dialog
Markers are facing the
Position Sensor.
30º to 60º
Divot size and shape match
tool tip size and shape.
How the Passive Polaris Vega System Works
26 Passive Polaris Vega User Guide
4 How the Passive Polaris Vega System Works
This chapter provides details on how the Polaris Vega System works. The information can help
increase your technical understanding of the system, but is not absolutely necessary in order to use
the system. To learn how to use the system, refer to “Tutorial: Learning to Use the Passive Polaris
Vega System” on page 20.
Note References to active tools are applicable only for active wireless systems.
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
“Marker Detection and Tool Tracking” on page 31
“Sampling Rate” on page 33
“Passive Polaris Vega System Tools” on page 33
“Tool Definition File” on page 37
“Tool Tracking Parameters” on page 37
“Tool Tip Offset” on page 40
“Reference Tools” on page 42
“Stray Marker Reporting” on page 42
“Phantom Markers” on page 43
“System Spectral Response” on page 44
“Data Transmission Rate” on page 44
4.1 Communicating with the Passive Polaris Vega System
The Polaris Vega System is controlled using an application program interface (API). The API is a set
of commands and parameters that allow you to configure and request information from the system.
Values for different aspects of the Polaris Vega System are stored in user parameters. Some user
parameters store values for the full system configuration (for example, the combined firmware
revision); others store values pertaining to a particular hardware device in the system (for example,
the illuminator rate on the Position Sensor). Some user parameters are read-only parameters that
store useful information about the system; some user parameter values can be changed, to allow you
to configure the system. You can read and change user parameter values using API commands.
For details on user parameters, see the Polaris Vega Application Program Interface Guide.
How the Passive Polaris Vega System Works
Passive Polaris Vega User Guide 27
4.2 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.
These incorrect interpretations may result in personal injury.
When the Polaris Vega System is tracking tools, it returns information about those tools to the host
computer. By default, the system 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 28).
Note Transformations with respect to a reference tool (described on page 42), and transformations for a probe with a
tool tip offset (described on page 40) 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 Vega
Application Program Interface Guide.
the frame number for each tool transformation. The frame number is incremented by 1 at a
constant rate of 60 Hz. The frame number returned with a transformation corresponds to the
frame in which the data used to calculate that transformation was collected.
the system status, which includes some of the system errors.
If requested, the system can also return:
tracking errors and flags. (Some tracking errors and flags are returned by default.)
marker status information, such as whether a particular marker was used to calculate a tool
transformation.
positions of stray passive markers (3D positions not associated with any tool)
transformations for tools that are outside of the characterized measurement volume.
transformations for tools when the system has detected one of the following error
conditions:
the bump sensor has been triggered,
the system is outside of operating temperature range,
the bump sensor battery power is low,
the temperature sensors are outside of functional range, or
Warning!
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28 Passive Polaris Vega User Guide
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.
4.3 Global Coordinate System and Measurement Volume
Global Coordinate System
The Polaris Vega Position Sensor uses a coordinate system with an origin located at the Position
Sensor and axes aligned as shown in Figure 4-1. This global coordinate system is defined during
manufacturing and cannot be changed.
Figure 4-1 Global Coordinate 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.
These incorrect interpretations may result in personal injury.
The Polaris Vega 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 Tools” on page 42.
Field of View and Characterized Measurement Volume
The field of view is the total volume in which the Polaris Vega System can detect a marker,
regardless of accuracy.
The 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 Vega System Position Sensor. There are two
characterized measurement volumes available for the Polaris Vega System: the pyramid volume,
illustrated in Figure 4-2, and the extended pyramid volume, illustrated in Figure 4-3.
-x
-y
-z
Origin
Warning!
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Passive Polaris Vega User Guide 29
The Position Sensors performance is determined using the calibration methodology described in
Appendix A on page 93.
Figure 4-2 Pyramid Volume
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30 Passive Polaris Vega User Guide
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.
With the BX2 command, measurements are reported whether or not the tools or markers are inside
the characterized measurement volume. You must check the accompanying status code to determine
whether the measurements are inside the volume, partially out of volume, or completely out of
volume.
With the BX or TX commands, tools or markers outside the characterized measurement volume are
by default reported as missing. You can request these measurements by using reply option 0x0800.
See the Polaris Vega Application Program Interface Guide for details.
A tool is flagged as partially out of volume if:
fewer 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 volume
For 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. (The minimum number of markers parameter specifies
the minimum number of markers that the system must use in the calculation of a tool transformation.
See page 39 for details.)
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4.4 Marker Detection and Tool Tracking
Detecting Markers
The Position Sensor detects active and passive markers using different methods. To detect passive
markers, the Position Sensors 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). The flashing
rate can be adjusted to 30 Hz or 60 Hz. The passive sphere markers have a retro-reflective coating
that reflects the IR directly back to the Position Sensor instead of scattering it.
Active wireless tools are triggered by a high frequency (107.3kHz) infrared “chirp” signal emitted
by the Position Sensor just before integration starts. The infrared receiver on the active wireless tool
detects the chirp and activates the IREDs for the duration of the integration time.
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 62 for
more details.
Acquiring and Tracking Tools
When the Polaris Vega System first begins tracking a tool, or whenever a tool goes missing, it must
“acquire” the tool. To acquire tools, the Polaris Vega System first measures the positions of all the
visible markers.
IR light hits the sensors 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. Otherwise, the
system will calculate the position of the IR sources.
To determine the position of a marker, the Position Sensor calculates virtual lines emanating from
the measured center of the images of the marker on each sensor through the optics into 3D space.
These lines are called the lines of sight. In a perfect (error-free) system, a pair of lines of sight
intersect exactly at the location of the marker in 3D-space as shown in Figure 4-4. In a real system
the lines of sight do not intersect exactly, but will pass by each other at a very small distance. The
shortest distance between the two lines of sight is called the line separation. If the line separation at
this point is less than a predefined limit, the Polaris Vega System considers the point to be a possible
marker position. Otherwise, the point is discarded.
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32 Passive Polaris Vega User Guide
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). These measured segments and
segment angles will then be compared to the “nominal” segments and segment angles as calculated
from the tool definition. If the measured and nominal data are within predefined tolerances of each
other, the measured data will be considered a “match” and the corresponding markers will be
associated with the tool. Refer to the Polaris Tool Design Guide for details about unique geometry
requirements.
Any measured 3D position that cannot be matched to a tool is considered a stray marker and will be
reported as such. Stray markers can be real (physically present markers not associated with any
tool), they can be caused by reflections or they can be phantom markers (mathematically valid
solution for co-planar arrangements of real makers).
See “Stray Marker Reporting” on page 42 and “Phantom Markers” on page 43 for more details.
The Polaris Vega 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-On
If the “three-marker lock-on” option is enabled in the tool definition file, the Polaris Vega 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 “three-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 three-marker lock-on in this case will result in the tool transformations
being reported sooner, once the minimum number of markers becomes visible, because the system
does not have to spend time re-acquiring the tool.
In general it is recommended to use the three-marker lock-on flag. The only exception is if 3 of the
markers on the tool are co-linear. In this case three-marker lock-on cannot be used.
Note For more details on the “three-marker lock-on” option, see the Polaris Tool Design Guide.
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4.5 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. The number and classification of tools
have the following effects on the number of frames needed:
All passive tools are tracked in the same frame. You can select an illuminator rate of 60 Hz,
30 Hz, or 20 Hz if you are tracking only passive tools.
•All active wireless tools are tracked in the same frame.
Active wireless tools and passive tools are tracked in separate frames. If both tool types are
used together, the tracking rate can be 20Hz or 30Hz. Setting the frame rate to 60Hz is
allowed, but will not increase the tracking rate for each tool. At 30Hz, active wireless and
passive tools will be tracked alternating (1/60sec apart). At 20Hz active wireless and
passive tools will be tracked 1/60th of a second apart, followed by a “dummy frame
(causing 2/60th of a second spacing between the passive frame and the subsequent active
wireless frame).
4.6 Passive Polaris Vega System Tools
A tool is a rigid structure on which three or more spherical markers or Radix lenses are fixed so that
there is no relative movement between them. Polaris Vega tools can be either passive or active
wireless. See “Passive Tools” on page 33 and “Active Wireless Tools” on page 34 for further
information.
Up to 25 tools total can be loaded simultaneously. Of these up to 6 can be active wireless. It should
be noted that a large number of tools in view or a large number of extraneous markers in view may
affect the speed of the system and its ability to return transformations.
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 Vega System can track its
associated tool. For more information on tool definition files, see “Tool Definition File” on page 37.
Tools are available from NDI for use with the Polaris Vega System. Contact NDI for more details.
Passive Tools
Passive tools have no active (light-emitting) components and do not require power from a cable or
battery. NDI offers two types of markers for passive tools:
Passive Sphere – a sphere with a retro-reflective surface
Radix Lens – a retro-reflective plastic lens
In either case, light from the illuminators around the sensors of the Position Sensor is reflected back
to the sensors, making the markers appear bright compared to the rest of the scene. To identify
individual markers and associate them with a specific tool, the system uses geometrical properties
like lengths and angles of the marker constellation derived from the tool definition file. See “Tool
Definition File” on page 37 for details.
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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
performance of these markers after one cycle of ETO, STERRAD 100S, or STERIS SYSTEM 1
sterilization. Passive sphere markers cannot be autoclaved.
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. Inaccurate
conclusions may result in personal injury.
Caution! Do not handle the passive 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.
For detailed information on passive sphere markers, see the Polaris Tool Design Guide.
Active Wireless Tools
Active wireless tools are not physically connected to the Vega system. They incorporate active
markers and an IR receiver. These tools are powered by battery or by the equipment to which they
are attached. To track active wireless tools, the Position Sensor pulses its illuminators (chirps) in a
way that is recognizable by the tool’s IR receiver. When the receiver on the tool detects the chirp
signal, the tool activates its infrared light-emitting diodes (IREDs), which in turn are seen by the
Position Sensor.
Active wireless tool specification
The Active Wireless tool must detect the Position Sensor chirp with the following specification:
Wavelength range: 800 – 900 nm (850nm center)
Frequency: 105.0 - 110 kHz (107.3 kHz center)
Duration: 200 - 2000µs, (344µs default)
Duty cycle: 10% - 90% (50% center)
Irradiance: 0.02 - 70 W/m²
Warning!
Warning!
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Passive Polaris Vega User Guide 35
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. The IRED firing period must extend beyond T+2400µs to
ensure the markers are firing during the Vega exposure period.
NDI recommends that the IREDs are fired solid for the complete activation duration.
An alternate way of firing the IREDs is the pulsed method. If this method is implemented, the pulse
width should not exceed 16µs and the minimum repetition rate should be 64µs. From T+2200µs to
at least T+2400µs, the pulse width must be shortened to 2µs and the repetition rate increased to 4µs.
This ensures that a missed pulse has minimal impact on the overall signal.
Note The tool needs to function with a refresh rate of at least 20Hz.
The Position Sensor recognizes active wireless tools solely by marker geometry. The marker
geometry is specified in the tool definition file, which must be loaded into the system before the tool
can be tracked. See “Tool Definition File” on page 37 for details.
Do not use a wireless tool whose design does not conform to the Polaris Vega System's unique geometry
constraints. When a Polaris Vega 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. When two
indistinguishable tools are being used, the first tool that is detected will be tracked. If that tool moves out of the
measurement volume, the second tool will be tracked. If this is repeated, the tracking data will appear to jump
between the two tools. Reliance on data produced by two indistinguishable tools can lead to inaccurate
conclusions. These inaccurate conclusions increase the possibility of personal injury.
Warning!
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36 Passive Polaris Vega User Guide
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.
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. Inaccurate
conclusions may result in personal injury.
Tool Characteristics
Tools used with the Polaris Vega 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 Vega 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 Vega 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 tool can be multi-faced, with up to 8 faces. Only one face is selected at any given time.
The system automatically selects the face with the best alignment to the position sensor,
based on face normals. Each face must comply with the unique geometry rules as if it were
a standalone 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 Tracking
When the Polaris Vega 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, is included in
the Port/Tool Status field of the BX2 6D Data component, and is reported in NDI ToolBox (see the
online help in NDI ToolBox for more details).
Each face is assigned a face normal in the tool definition file (described on page 37). The face
normal is a vector pointing in the same direction as the tool face, to let the Polaris Vega 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.
Warning!
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Passive Polaris Vega User Guide 37
4.7 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. For more information on the parameters used to track tools, see “Tool Tracking Parameters”
below.
For each tool used, the client application must provide the system with a tool definition file. If the
application is only interested in 3D data (stray markers), no tool definition file is required. However,
at least one “dummy tool” must be loaded for each tool-type of which 3D data is supposed to be
tracked in order to tell the system to add a frame for this tool type. Dummy tools can be added via
optional parameters in the “Port Handle Request” command. See the Polaris Vega Application
Program Interface Guide for details.
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.
4.8 Tool Tracking Parameters
The tool tracking parameters (described below) are the maximum 3D error, the maximum marker
angle, the minimum number of markers, and the minimum spread. They are specified in the tool
definition file (described on page 37). The flow chart on page 40 describes how the Polaris Vega
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.
Maximum 3D Error
The maximum 3D error parameter specifies the maximum allowable 3D error for each marker on
the tool. The 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 37).
If the 3D error for a particular marker is greater than the specified maximum 3D error value, the
system will not use data from that marker to determine the tool transformation.
Maximum Marker Angle
The 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 4-6.
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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
Sensors xy- and yz-planes. (The Position Sensor’s coordinate system is described in “Global
Coordinate System” on page 28.) If the angle between the marker normal and either sensor is greater
than the specified maximum marker angle value, the system will not use the data from that marker to
determine the tool transformation.
The actual range of use of a marker depends on the markers location in the characterized
measurement volume. The closer a marker is to the Position Sensor, the smaller its range of use.
This is illustrated in Figure 4-7 for a maximum marker angle value of 60º.
Figure 4-7 Actual Range of Use
Figure 4-1 lists some examples of the actual range of use of a marker at different places in the
characterized measurement volume. The calculations use the default maximum marker angle values
of ±90º for passive sphere markers and ±60° for active markers.
Table 4-1 Actual Range of Use
Distance From Position Sensor (along z-axis) Actual Range of Use
Passive Marker Active Marker
950 mm (front of volume) 150.5º 90.51º
2400 mm (back of pyramid volume) 168.1º 108.1º
3000 mm (back of extended pyramid volume) 170.5º 110.5º
Marker Normal
Active Marker
Marker Normal
Passive Sphere Marker
NDI Mounting Post
Maximum marker
angle (60º)
Maximum marker
angle (60º)
Actual range of use
(approx 108º)
Actual range of use
(approx 90º)
2400 mm
950 mm
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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.
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 Vega 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 Vega System will report the tool as
MISSING.
Minimum Spread
The 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 further information on the minimum spread parameters, see the Polaris Tool Design Guide.
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Figure 4-8 Flowchart of Tool Tracking Parameters
4.9 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. Reliance on data produced by a tool with an inaccurate tip
offset may lead to inaccurate conclusions. These inaccurate conclusions may result in 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.
Warning!
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Passive Polaris Vega User Guide 41
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 Vega System to the tool tip offset, in order to determine
the location of the tool tip.
Note The Polaris Vega System always tracks the origin of the tool. It is the application software, not the Polaris Vega
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 Calibrator
A 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 4-9. 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 Vega System can then measure the positions of the probe’s origin
and the calibrators origin. The application software compares these measurements to determine the
tool tip offset of the probe.
Figure 4-9 Sample Calibrator
Probe
Calibrator
Clamp Probe in Place
Place Tool Tip at Origin
of Calibrator
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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. 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 23.
The procedure is also detailed in the NDI ToolBox online help.
4.10 Reference Tools
A reference tool is a tool whose local coordinate system is used as the global coordinate system in
which other tools are tracked. The Polaris Vega System tracks all the tools, including the reference
tool, and reports the transformations in the coordinate system of the Position Sensor (described on
page 28). 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 Vega 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
not 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 Vega 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.
4.11 Stray Marker Reporting
A stray marker is a marker that is not part of a rigid body or tool. 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.
When you request stray marker data from the Polaris Vega System, the Polaris Vega System will
report tool transformations, as well as 3D data (position only, no orientation information) and out-
of-volume information for markers that are not used in tool transformations (including phantom
markers, described on page 43). 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 reported
as a stray marker.
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Passive Polaris Vega User Guide 43
No marker identification is possible from frame to frame. It is therefore the users
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.
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. (Phantom markers are explained on
page 43.)
Partial occlusion of markers cannot be detected or compensated for by the Position Sensor.
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.
Do not rely on unqualified 3D results for stray markers. There are no built-in checks to determine if the 3D results
for stray markers represent real markers, phantom markers or IR interference, so the host application must
identify and qualify the reported 3D results for stray markers. Reliance on unqualified 3D data may lead to
inaccurate conclusions. Inaccurate conclusions may result in personal injury.
To request stray marker data, use the 0x1000 reply option with the API command BX or TX. The
BX2 option --3d=strays can also be used. These reply options return out-of-volume information
along with the 3D data. See the Polaris Vega Application Program Interface Guide for details.
In order for the Position Sensor to measure stray passive 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.
4.12 Phantom Markers
Phantom markers are the result of the calculation that the Polaris Vega System uses to determine the
position of a source of IR. They appear and are reported as markers but they do not actually exist.
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 4-10). Where the lines cross each other,
the Polaris Vega System calculates the line separation (the distance between the lines). If the line
separation at this point is within a predefined limit, the Polaris Vega 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 within 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 4-10. Two are the actual
marker locations and two are the phantom marker locations. In the example shown, one phantom
marker is closer to the Position Sensor than the actual markers and the other phantom marker will be
Warning!
How the Passive Polaris Vega System Works
44 Passive Polaris Vega User Guide
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 • (n - 1) phantom markers.
Figure 4-10 Phantom Markers
When you request stray marker data from the Polaris Vega System, the system will report data for
both phantom markers and stray markers. The system cannot distinguish which solutions are
phantom markers; it is necessary to eliminate the reported phantom markers using application
software.
If you do not request stray marker data from the Polaris Vega System, the system will not return any
phantom marker data.
4.13 System Spectral Response
The Polaris Vega System uses near infrared light for tracking. The system responds to wavelengths
in the 800nm to 1100nm range. Light sources with spectral content in this wavelength range may
cause interference with tracking. Examples include sunlight, halogen lamps and other incandescent
light-bulbs. The system will signal the presence of extraneous light sources by setting the
“Interference” flag. Whether or not the interference impacts tracking depends on the actual scene,
but it is generally advisable to remove the source of interference before using the system in critical
applications. Taking video captures of the scene with the interference present is the easiest way to
identify the location and source of the interference.
Note It is important to reduce environmental IR, to prevent interference with the system. Some operating room lights
may emit IR.
4.14 Data Transmission Rate
The Polaris Vega System can achieve an internal tool transformation update rate of up to 60 Hz. The
host computer update rate (the rate at which the host computer receives data) is dependent on the
following factors:
Network Utilization If the system is operated on a busy shared network, the transmission may slow
down due to bandwidth limitations. If the system is operated on a separate network, this issue will
not be significant.
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
How the Passive Polaris Vega System Works
Passive Polaris Vega User Guide 45
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.
Additional System Features
46 Passive Polaris Vega User Guide
5 Additional System Features
This chapter provides details about additional features of the Polaris Vega System. This chapter
contains the following information:
“Bump Sensor” on page 46
“Positioning Laser” on page 47
“Keyed Features” on page 48
5.1 Bump Sensor
The Position Sensor contains an internal bump sensor that detects when the Position Sensor has
suffered an impact. Although each instance is different, it is NDI’s expectation that a representative
trigger threshold is equivalent to a 255 mm to 400 mm (depending on orientation) drop onto a vinyl
tiled concrete surface.
When a bump is detected:
The error LED on the Position Sensor is on, indicating that a potentially minor recoverable
fault has been detected. The on-state will persist until the bump is cleared.
The “bump detected” bit in the Info.Status.Alerts user parameter is set. This bit will persist
until the bump is cleared.
The “bump detected” bit in the Info.Status.New Alerts user parameter is set. This bit will
be cleared as soon as the user parameter is read. (When the bit is set in Info.Status.New
Alerts, the “diagnostic pending” bit in the TX and BX responses will also be set to indicate
a new alert.)
The condition will also be reported as an alert code in the System Alerts component of the
BX2 response.
•The Info.Status.Bump Detected and Param.Bump Detector.Bumped user parameters are
set to “1”. These user parameter values persist until the bump is cleared.
The API commands TX and BX will not report transformations unless reply option 0x0800
is used. This behaviour persists until the bump is cleared. Because a bump can affect the
calibration of the Position Sensor, the system is designed not to report transformations if it
has detected a bump.
The API command BX2 will report transformations but will also include a System Alert
component with data to indicate the cause of the alert.
Note See the Polaris Vega Application Program Interface Guide for details on user parameters and API 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 https://support.ndigital.com.
Additional System Features
Passive Polaris Vega User Guide 47
A Position Sensor whose bump sensor has been triggered may no longer be covered under warranty,
as the impact required to trigger the bump sensor is greater than that expected to occur through
proper use and handling of the Position Sensor.
Clearing the Bump Sensor
You can clear a bump using the following methods:
Use the Configure utility of NDI ToolBox. See the NDI ToolBox online help for more
details.
Use the API command SET to set the value of the user parameter Param.Bump
Detector.Clear to “1”. This clears all bumps detected up to this point. The system will
automatically reset this user parameter to “0”. See the Polaris Vega Application Program
Interface Guide for details.
Bump Sensor Battery
The bump sensor is functional whether the Polaris Vega System is powered on or off. When the
system is powered on, the bump sensor circuit draws its power, through the system, from the mains
supply. When the system is not powered on, the bump sensor derives its power from an internal
battery that has an operational life of approximately 7 years. At that point the system will report a
low-battery status. Note that once the battery is no longer able to power the bump sensor, the system
will report a bump every time it is taken off mains power. This behavior cannot be prevented unless
the battery is replaced. If the bump sensor battery in your system needs to be replaced, contact NDI.
See “Contact Information” on page xii.
5.2 Positioning Laser
The positioning laser is an optional component of the system. It is located in the Position Sensor,
and indicates the general centre of the characterized measurement volume. This feature allows you
to properly position the Position Sensor, or position objects in the measurement volume, relative to
the measurement volume. The laser beam is emitted from an aperture on the front of the Position
Sensor, and is directed along the z-axis of the Position Sensors global coordinate system (described
on page 28).
Note The laser spot will diverge with increasing distance from the Position Sensor.
Laser Use
Do not look directly into the laser-emitting aperture. The Class 2 laser module on the Position Sensor emits
radiation that is visible and may be harmful to the human eye. Direct viewing of the laser diode emission at close
range may cause eye damage.
Ensure that people with restricted movement or reflexes (for example, patients undergoing medical procedures)
do not look directly into the laser-emitting aperture. 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
Warning!
Additional System Features
48 Passive Polaris Vega User Guide
visible and may be harmful to the human eye. Direct viewing of the laser diode emission at close range may
cause eye damage.
Do not use controls, adjustments, or performance of procedures other than specified in this guide as it may
result in hazardous light exposure.
You can activate the laser using the following methods:
Use the API command SET to set the value of the user parameter
Param.Laser.Laser Status. A value of 1 turns the laser on; a value of 0 turns the laser off.
The laser will automatically turn off after 35 seconds.
You can connect a switch to the external laser trigger connector. See “Mounting the Position
Sensor” on page 12 for details.
Note For more information on user parameters and API commands, see the Polaris Vega Application Program Interface
Guide.
Laser Specifications and Standards
The positioning laser is a Class 2 laser, with a wavelength of 645 nm to 665 nm and a maximum
output of 1 mW. The Polaris Vega System containing a positioning laser conforms to the following
standards:
IEC 60825-1 (2014)
FDA/CDRH 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice
No. 50, dated June 24, 2007
The label shown in Figure 5-1 is located on the back of the Position Sensor, and lists the laser
specifications and safety information.
Figure 5-1 Position Sensor Laser Label
Note If the Polaris Vega System is incorporated into another product, the laser safety information must be included in
the product manual.
5.3 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:
LASER RADIATION
Emitted from Aperture
DO NOT STARE INTO BEAM
CLASS 2 LASER PRODUCT
max. output <1mW, CW, 640nm - 670 nm
IEC 60825-1 (2014), ANSI Z136.1 (2014)
Complies with 21 CFR1040.10 and 1040.11 except for deviations
pursuant to Laser Notice No. 50, dated June 24, 2007
Additional System Features
Passive Polaris Vega User Guide 49
Multi Firmware: allows the system to be simultaneously programmed with more than one
combined firmware revision.
Password Protect: provides security against changes to the system configuration.
Positioning Laser: indicates the centre of the characterized measurement volume.
For information on the latest keyed features and how to purchase them, contact NDI.
Installing a Keyed Feature
To install a keyed feature, use the Configure utility of NDI ToolBox. For information on using NDI
ToolBox, see the NDI ToolBox online help.
Disabling and Enabling Keyed Features
Disabling a feature makes that feature unavailable. Enabling a feature makes the feature available. A
feature is enabled upon installation. You can disable or enable features using the Configure utility of
NDI ToolBox, or using API commands. For details on API commands, see the Polaris Vega
Application Program Interface Guide.
Available Features
Multi Firmware Feature
Note The multi firmware features requires the multi firmware feature key, available from NDI, see “Contact Information”
on page xii.
The multi firmware feature allows the system to house more than one combined firmware revision.
When the multi firmware feature is enabled, you can specify which combined firmware revision the
system will use on its next reset or power up.
You can install new combined firmware revisions using NDI ToolBox. You can specify which
combined firmware revision the system will use in NDI ToolBox or using API commands. For
details on API commands, see the Polaris Vega Application Program Interface Guide.
Password Protect Feature
The password protect feature provides security against changes to the system configuration. When
the password feature is enabled, you must enter the correct password before you can:
save user parameter values,
update the firmware, or
install, disable, or enable a keyed feature.
If the correct password is not entered, user parameter values can be changed but not saved (they will
return to their previous values upon system reset or initialization).
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
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50 Passive Polaris Vega User Guide
initialized, you will have to re-enter the password before you can make changes to the system
configuration. For details on API commands, see the Polaris Vega Application Program Interface
Guide.
The password is obtained from NDI.
Position Laser Feature
The positioning laser is located in the Position Sensor, and indicates the general centre of the
characterized measurement volume. This feature allows you to properly position the Position
Sensor, or position objects in the measurement volume relative to the characterized measurement
volume. 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 47.
Additional System Features
Passive Polaris Vega User Guide 51
Video Camera
52 Passive Polaris Vega User Guide
6Video Camera
The (optional) “live view” video camera is used for capturing a video stream of the Vega
measurement volume. The video camera is integrated into the Position Sensor and is located
centrally between the two image sensors. It is closely aligned along the horizontal line of sight of the
image sensors used for tracking, and is slightly offset vertically. See Figure 6-1.
The camera is fixed-focus, with the point of focus being 2.5 meters from the centre of the Position
Sensor.
Figure 6-1 Video Camera Option
The video output from the camera is provided in standard video format. The lowest available
resolution is 1024x768 at 47fps and the maximum resolution is 2048x1536 at 21fps.
The user parameters that apply to the video camera can be adjusted via the Configure utility of the
NDI ToolBox application. Refer to “Configuring the video camera using NDI ToolBox” on page 58.
You can also use the Polaris Vega API to configure user parameters for the video camera. To set the
value of a user parameter, use the API command SET. To retrieve a user parameter value, use the
API command GET. For details on using the Vega API to adjust user parameters for the video
camera, see the Polaris Vega Application Program Interface Guide.
6.1 Video Streaming
The video camera streams data using the RTSP protocol. As such, any third party media player that
supports this protocol can be used to display the stream from the video camera.
Note The video camera is only available for streaming to a media player when video streaming is enabled.
Enable video steaming using one of the following methods:
Set the value of the user parameter Param.Video Camera.Allow Streaming. A value of 1
enables video streaming; a value of 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 53.
Video Camera
Video Camera
Passive Polaris Vega User Guide 53
Figure 6-2 Enabling video streaming
To establish a connection between the video camera and the media player, you usually provide a
URL of the following structure: rtsp://hostname:554/video or rtsp://IP Addresss:554/video.
To retrieve the IP address for use in the URL, follow the procedure detailed below.
1. In the NDI ToolBox Configure utility, navigate to File> Connect to.
2. Hover over the Polaris Vega in the list and make note of the IP address that is displayed.
Note To allow for video streaming to the computer running the media player, you may need to configure the
computer’s firewall to allow UDP traffic on ports 30000-30500 and TCP/UDP traffic on port 554. Contact your
network administrator for details.
Video Streaming with VLC
VLC is a freely available media player that is simple to use. Once you have installed it, establish
streaming as follows:
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.
Video Camera
54 Passive Polaris Vega User Guide
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.
Video Camera
Passive Polaris Vega User Guide 55
Figure 6-4 VLC configuration
Video Camera
56 Passive Polaris Vega User Guide
Video Streaming with GStreamer
GStreamer is another media player that is freely available. GStreamer introduces less latency than
VLC, but it is more challenging to use.
GStreamer provides a library that can be used to process the video coming from the Vega video
camera. To use the library from the command line, you must use the gst-launch-1.0.exe application
and construct command line arguments that can communicate with the video camera (rtspsrc),
decode and decompress the video data (rtph264depay, avdec_h264) and display it on the screen
(autovideosink). Each processing element is delimited by an exclamation point (!) and can be
configured using its available properties (e.g. latency is a property of rtspsrc).
The line below is the structure to use to display live video on your screen:
gst-launch-1.0.exe rtspsrc location=rtsp://[IP Address of Position
Sensor]:554/video latency=1 protocols=1 drop-on-latency=true do-
retransmission=false udp-reconnect=false ! rtph264depay ! avdec_h264 ! queue !
autovideosink sync=false
Following is specific example of the command:
gst-launch-1.0.exe rtspsrc location=rtsp://192.168.1.10:554/video latency=1
protocols=1 drop-on-latency=true do-retransmission=false udp-reconnect=false !
rtph264depay! avdec_h264 ! queue ! autovideosink sync=false
6.2 Lighting Presets
The video camera software provides several different lighting presets that adjust the image’s white
balance for different scenarios, such as natural day light conditions, LED lighting, operating room
lighting or florescent overhead lighting.
Use the VCU-0.Param.White Balance.Name user parameter to choose the lighting scenario (white
balance configuration) that most closely matches the surrounding environment. You can then fine
tune the colour by modifying the current RGB gain parameters using the VCU-0.Param.White
Balance. [Red|Green|Blue] parameter. These changes take effect immediately and the name of the
lighting scenario changes to “Custom”.
In the event that you need more than one customized lighting preset, you can modify the table of
preset gains by changing the values in VCU-0.Param.White Balance.Gains.* and saving the user
settings.
For detailed information on the white balance presets and values that come configured with the
system, refer to the appendix “White Balance Presets” on page 97. This appendix also provides
information on how to change the presets to optimize the video image for your environment.
Once you have the white balance set properly, you can use the VCU-0.Param.System Gain, VCU-
0.Param.Exposure Time, VCU-0.Param.Brightness and VCU-0.Param.Contrast to control the
overall brightness of the image. See “Other Image Adjustments” on page 57 for details.
6.3 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:
Video Camera
Passive Polaris Vega User Guide 57
XGA: 1024x768 at 47fps
HD 720p: 1280x720 at 30fps
HD 1080p: 1920x1088 at 30fps
QXGA: 2048x1536 at 21fps
Use the VCU-0.Param.Camera Resolution user parameter to choose the resolution that suits your
application and environment the best.
Note To achieve the broadest coverage of the Vega characterized measurement volume, set the resolution to
1280x720.
The actual resolution will not be changed until the video stream is closed and then reconnected. The
limit of the exposure time in the parameter system is determined by the currently selected resolution,
but the actual limit is determined by the streaming resolution.
For example, if the camera is streaming at 1024x768, the maximum exposure time is 21ms. If the
user changes the resolution to 1920x1080 (maximum exposure time=33ms) without restarting the
video stream, the parameter system will allow the user to enter values above 21ms, but the image
will not appear any brighter until the video stream is restarted.
6.4 Other Image Adjustments
Brightness Applies an offset to every pixel in the image, affecting the overall brightness of each
pixel.
Exposure time The amount of time that light hits the image sensor for a single frame. A lower value
generates a darker image; a higher value generates a brighter image.
Contrast Applies a multiplier to the colour gains in the image. Bright colours become brighter and
dark colours become darker.
Image distortion and measurement volume correspondence The Polaris Vega API provides access to
all the parameters required to correct for image distortion, along with the parameters that define the
correspondence between the measurement volume and video camera field of view. To view these
parameters, use the command GET VCU-0.Param.Lens.*. The first five parameters returned
describe the Zhang distortion model. The Lens.6D parameters returned define the location of the
video camera field of view in the measurement volume. The values for these parameters are set
during a characterization process that is performed when the Vega system is being manufactured.
For more information on these parameters, refer to the Polaris Vega Application Program Interface
Guide.
For a complete list of video camera user parameters, use the GETINFO * API command. This
returns a list of all the user parameters, along with a description and permissions for each parameter.
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.
Video Camera
58 Passive Polaris Vega User Guide
When you select “High Quality”, image quality is increased. Streaming latency may also be
increased and network performance decreased.
When you select “Low Latency”, the trade off is image quality, which will be reduced.
When you select “High Compression”, network performance is improved at the cost of
image quality.
Changes to the streaming preset will be applied when the video stream is restarted.
To reduce streaming latency
There are several steps that can be taken to reduce the latency of the video stream.
On the computer running the streaming client,
Install a high-speed (gigabit) network interface card
Install a high-speed video card
Increase the CPU power
Increase the priority of the application that is processing the video. In Windows, for
example, this is done in the Task Manager.
Select a lower image resolution. A resolution of 1024x768 offers the lowest latency.
The network setup can also affect the latency of the video stream. The lowest latency configuration
is a direct connection between the Vega Position Sensor and the client computer. Connecting the
Position Sensor to the client computer via network switch or hub may increase latency, depending
on the amount of traffic on the network.
Note Integrating the Vega Position Sensor into a 10Base-T network is not recommended.
Note Performance of the video camera is highly dependent on network throughput. Devices that can reduce this
throughput (e.g. Ethernet to USB converter) should be avoided. A high quality gigabit network interface is
recommended.
6.5 Configuring the video camera using NDI ToolBox
Most of the instructions in this chapter describe how to configure the video camera using the Polaris
Vega application program interface. For more information on this approach, refer to the Polaris Vega
Application Program Interface Guide.
You can also configure the video camera using the NDI ToolBox Configure utility, as referenced in
some of the instructions in this chapter. 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.
Video Camera
Passive Polaris Vega User Guide 59
2. To connect to the position sensor that contains the video camera you wish to work with, select
File> Connect to, then select the Polaris Vega of interest from the list.
3. In the panel on the left of the Configure utility’s main page, expand the Polaris Vega node, then
the Video Camera node.
4. Select Settings and Options.
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.
6.
Figure 6-5 Video camera configuration options in ToolBox
Maintenance
60 Passive Polaris Vega User Guide
7 Maintenance
User maintenance of the Polaris Vega System is limited to the following procedures:
Cleaning the Position Sensor
Disposal of equipment
Note Do not open any component of the Polaris Vega System. Doing so will void the warranty.
Maintenance Warnings
Before doing any maintenance on the Polaris Vega System, read the following warnings:
1. All user maintenance must be done by appropriately trained personnel. Individual
components of the Polaris Vega 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 before a
procedure. The Position Sensor should also be monitored during the procedure. Reliance
on data provided by an unclean or damaged Position Sensor may lead to inaccurate
conclusions. Inaccurate conclusions may result in personal injury.
3. Do not immerse any part of the Polaris Vega 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 Vega 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. These inaccurate conclusions may result in personal injury.
7.1 Cleaning the Position Sensor
Regularly inspect the Position Sensor for cleanliness. The Position Sensor, 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 solution and a soft lint-free cloth to remove handling smudges from the enclosure or
illuminator covers. 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.
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. Clean the
video camera aperture in the same manner, if it is part of your system.
Warning!
Maintenance
Passive Polaris Vega User Guide 61
2. Continue cleaning the remainder of the Position Sensor, taking care not to wipe debris from the
Position Sensor case onto the illuminator filters or lenses. Avoid prolonged contact between the
wipes and the Position Sensor.
7.2 Disposal of Equipment
To ensure environmentally responsible disposal after the equipment is decommissioned, please
contact NDI. See “Contact Information” on page xii.
Setting the Infrared Light Sensitivity
62 Passive Polaris Vega User Guide
8 Setting the Infrared Light Sensitivity
8.1 Infrared Light Sensitivity Levels
The IR light sensitivity level determines how sensitive the Polaris Vega System is to IR light.
Background IR Light
Background IR light is IR light that is not reflected (passive) or emitted (active) from a marker, but
is detected by the Polaris Vega 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 Vega 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 Vega System’s ability to tolerate background IR
light.
Trigger Level and Integration Time
The integration time is the time in which the Polaris Vega Position Sensor collects IR light.
The trigger level is the minimum IR light intensity considered to be valid marker data. The Polaris
Vega 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 integration time (Figure 8-1).
During operation, the Polaris Vega System makes adjustments to the integration time so that the
intensity of the brightest IR light detected settles at a maximum value and the intensity of all other
IR light falls below this value. It is generally the case that markers are the brightest IR source in the
scene. However, IR light reflected from surgical tools or draping material may be detected by the
Position Sensor and interfere with the identification of markers.
The goal of the sensitivity level is to allow IR light from tool markers to be detected while
eliminating IR light from other sources. Changing the sensitivity level does not change the
integration time; therefore the maximum IR light value does not change. However, changing the
sensitivity level does change the trigger level, which in turn allows the 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.
Setting the Infrared Light Sensitivity
Passive Polaris Vega User Guide 63
Figure 8-1 Vega Linear Sensitivity Levels
Sensitivity Levels
There are seven sensitivity levels. Level 1 is the least sensitive; that is the Position Sensor is least
affected by background IR light because the trigger threshold is high. With increasing sensitivity
levels, the system becomes more sensitive to IR light. This means that at higher sensitivity levels the
Position Sensor can detect fainter IR light levels but will include IR light from background sources,
making it more susceptible to background IR interference.
If you experience a large amount of background interference that causes the system to not track
properly, try decreasing the sensitivity level; this will eliminate more background IR light. However,
setting the level too low may cause tools to stop tracking.
If you are having trouble tracking tools with low IR intensity (e.g., because some tools are far from
the Position Sensor), try increasing the sensitivity level; this will allow the Position Sensor to detect
fainter IR light. Setting the level too high may cause an increase in background interference, which
in turn may prevent the system from performing optimally.
Note If you have experience with Polaris Spectra systems, be aware that the meaning of the levels has changed.
Higher levels in Vega mean higher sensitivity whereas for Spectra a higher level means lower sensitivity.
8.2 Changing the Sensitivity Level
Checking for Background IR Light
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.
Setting the Infrared Light Sensitivity
64 Passive Polaris Vega User Guide
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.
Note Changing the sensitivity level may reduce tracking problems only when the tools are in a different physical
location from the background IR. The sensitivity level cannot reduce tracking problems when the tools are
embedded in background IR.
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 Level
You can change the IR sensitivity using the following methods:
Use the Configure utility of NDI ToolBox to select a sensitivity level, and to program a
sensitivity level as the default setting in the Position Sensor memory.
Use the API command SET to change the value of the user parameter
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.
Calibration and Firmware
Passive Polaris Vega User Guide 65
9 Calibration and Firmware
9.1 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. 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 Vega 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 31 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 users 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 Vega Position Sensor. See “Return Procedure” on
page 83 for instructions on returning equipment to NDI.
Bump Sensor
The Position Sensor contains an internal bump sensor that detects when the Position Sensor has
suffered an impact. Although each instance is different, it is NDI’s expectation that a representative
trigger threshold is equivalent to a 255 mm to 400 mm (depending on orientation) drop onto a vinyl
tiled concrete surface.
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.
For full details on the bump sensor, see “Bump Sensor” on page 46.
9.2 Updating the Firmware
The Polaris Vega System’s firmware is stored in flash memory devices in the Position Sensor and
the optional video camera. The latest firmware can be downloaded from the NDI Support Site at
https://support.ndigital.com.
The Position Sensor incorporates a safe boot loader that will perform verification of the control
firmware prior to loading and executing it. The safe boot loader has been included to provide a
fallback if a future control firmware upgrade fails. A communication fault or power fault could
cause a field firmware upgrade to fail. 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 you to retry the control
firmware upgrade.
Calibration and Firmware
66 Passive Polaris Vega User Guide
Note If the video camera fails to boot after a firmware upgrade, it will fall back to the previously installed firmware so
you can attempt the upgrade again.
Updating Firmware
Update the Polaris Vega Systems firmware using the Configure utility in NDI ToolBox. NDI
ToolBox also includes command line functionality, to allow you to embed an NDI ToolBox
application (such as upgrading firmware) into your application software. See the ToolBox online
help for details.
Multi Firmware Feature
The multi firmware feature is a keyed feature available for purchase from NDI. This feature allows
the system to be simultaneously programmed with more than one combined firmware revision.
When the multi firmware feature is enabled, you can specify which combined firmware revision the
system will use on its next reset or power up.
You can install new combined firmware revisions using NDI ToolBox.
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.
Approvals
Passive Polaris Vega User Guide 67
10 Approvals
10.1 Electrical Safety and Electromagnetic Compatibility
The Polaris Vega System, consisting of a Position Sensor (model P9), is listed in the “Declaration of
Conformity” on page 85.
10.2 Optical Radiation Safety
Position Sensor Illuminators
The Polaris System Position Sensor illuminators emit invisible infrared radiation with a pulsed
duration of up to 2.2 ms and 4.4% duty cycle resulting in a maximum average measured power of
127 W. The Position Sensor has been assessed against the standards listed in the “Declaration of
Conformity” on page 85 and found not to pose a potential hazard to the eye under any foreseeable
viewing condition.
Note The Polaris Vega System emits IR light that may interfere with IR-controlled devices, such as operating room
tables. It is recommended that you test the Polaris Vega System if you intend to use it in an environment where
other IR-controlled devices are in use.
The Polaris Vega System conforms to the IEC 62471:2006 and EN 62471:2008.
Positioning Laser
Do not use controls, adjustments, or performance of procedures other than specified in this guide as it may
result in hazardous light exposure.
The positioning laser is a Class 2 laser, with a wavelength of nominally 650 nm (645 nm to 665 nm)
and a maximum output of 1 mW. The Polaris Vega System containing a positioning laser conforms
to the following standards:
ANSI Z136.1 (2014)
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 47.
Warning!
Approvals
68 Passive Polaris Vega User Guide
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. It should be
possible to certify the system for use in the patient environment if the power supply given to the
certification house passes IEC 60601-1.
When installed in an end product, the following recommendations should be considered:
The maximum investigated branch circuit rating is 20 A.
The investigated Pollution Degree is 2.
The following tests shall be performed by the system integrator in the end product
application:
a) Marking Legibility after installation
b) Touch Current (Leakage Test)
Complete evaluation of risk management requirements must be conducted by the system
integrator in the end product investigation.
NDI has not considered Essential Performance.
The end-product evaluation shall ensure that the requirements related to Accompanying
Documents, Clause 7.9 of IEC 60601-1 v3.1 are met.
Suitability of the power source shall be verified by the respective certification body.
The system was tested together with a personal computer. Since, in final application the
product may be used with any certified personal computer, a leakage current test shall be
conducted to verify suitability of the final system configuration. End product investigation
shall consider compliance with enclosure leakage current test with the personal computers
protective earth disconnected.
The optional external switch intended to be connected to the laser activation port in any end-
use application must be separated from live parts by at least 2MOOPs (Means of Operator
Protection).
Classifications
Passive Polaris Vega User Guide 69
11 Classifications
Table 11-1 Classifications
Classification Description
Electric shock protection Class I - no applied parts
Degree of protection from electric shock Not classified
Degree of protection against ingress of
solids and liquids
IP20 (Protection against solid objects over 12 mm.
No protection against liquids.)
Flammable atmosphere 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
Technical Specifications
70 Passive Polaris Vega User Guide
12 Technical Specifications
12.1 Operating Environmental Conditions
The Polaris Vega System (Position Sensor and cables) has been tested to function in the conditions
listed in Table 12-1.
The Position Sensor requires a warm-up time every time it is powered on. The warm-up time is
typically 30 seconds; if the Position Sensor is stored at low temperatures, the warm-up time may be
longer. The power LED will flash while the Position Sensor warms up; once the LED is steady, the
system is ready for use.
12.2 Transportation and Storage Environmental Conditions
The Polaris Vega System (Position Sensor and cables) has been tested to be stored and transported in
the conditions listed in Table 12-2.
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.
Caution! To ship the Polaris Vega System, repack it in the original containers with all protective packaging. The provided
packaging is designed to prevent damage to the equipment..
Table 12-1 Operating Environmental Conditions
Environmental Condition Value
Atmospheric Pressure 70 kPa to 106 kPa
Relative Humidity 30% to 75%
Temperature +10oC to +35oC (see warning below)
Warning!
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 -10oC to +50oC
Technical Specifications
Passive Polaris Vega User Guide 71
12.3 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
Table 12-3 Position Sensor Technical Specifications
Specification Value
Dimensions 591 mm x 103 mm x 106 mm
Weight 1.7 kg +/- 0.1 kg
Mounting via four M4 x 0.7 mm pitch x 10 mm deep threaded
holes, rear mount
Maximum Update Rate 60 Hz
Input Voltage 42.5 VDC minimum, per IEEE 802.3at-2009
Power Consumption 25.5 W maximum, per IEEE 802.3at-2009
Table 12-4 Video Camera Technical Specifications
Specification Value
Aperture f/4.0
Focal Length 7.5mm
Electromagnetic Compatibility
72 Passive Polaris Vega User Guide
13 Electromagnetic Compatibility
The Polaris Vega System requires special precautions regarding EMC. It must be installed and put into service in
accordance with the EMC information detailed in “Electromagnetic Compatibility” on page 72. Failure to do so
may result in personal injury.
Radio frequency communications equipment, including portable and mobile devices, may affect the Polaris Vega
System and result in personal injury.
Do not use the Polaris Vega System either adjacent to, or stacked with, other equipment as this may cause the
equipment to over heat. Check that the Polaris Vega System is operating normally if it is used either adjacent to,
or stacked with, other equipment. Failure to do so may result in personal injury.
This chapter contains the following information about the electromagnetic compatibility of the
system:
“Cables and Accessories” on page 72
“Guidance and Manufacturer's Declaration: Electromagnetic Emissions” on page 72
“Guidance and Manufacturers Declaration: Electromagnetic Immunity” on page 73
“Recommended Separation Distances” on page 75
“Radio Frequency Emissions” on page 77
13.1 Cables and Accessories
No cables or accessories are delivered with the Polaris Vega System. A customer supplied ethernet
cable is required to connect the system units. The cable must be at least Cat 5e shielded to maintain
compliance to the emissions and immunity requirements of IEC 60601-1-2:2014.
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 Vega System and may result in
personal injury.
13.2 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
Warning!
Warning!
Electromagnetic Compatibility
Passive Polaris Vega User Guide 73
13.3 Guidance and Manufacturer’s Declaration: Electromagnetic Immunity
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.
Table 13-1 Manufacturer’s Declaration for Electromagnetic Emissions
Emissions Test Compliance Electromagnetic Environment Guidance
RF emissions
CISPR11
Group 1 The Polaris Vega System uses RF energy only for its internal
function. Therefore, its RF emissions are very low and are
not likely to cause any interference in nearby electronic
equipment.
RF emissions
CISPR11
Class B
The Polaris Vega 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 purposes.
Harmonic emissions
IEC61000 3-2
Class A
Voltage fluctuations/
flicker emissions
IEC61000-3-3
Complies
Table 13-2 Electromagnetic Immunity
Immunity Test IEC 60601 Test
Level Compliance Level Electromagnetic Environment -
Guidance
Electrostatic
discharge (ESD)
IEC 61000-4-2
±2, ±4, ±8, ±15
kV contact
±8 kV air
±2, ±4, ±8, ±15
kV contact
±8 kV air
Floors should be wood, concrete or
ceramic tile. If floors are covered
with synthetic material, the relative
humidity should be at least 30%.
Electrical fast
transient/burst
IEC 61000-4-4
±2 kV for power
supply lines.
±1 kV for input/
output lines
±2 kV for power
supply lines.
±1 kV for input/
output lines
Mains power quality should be that
of a typical commercial or hospital
environment.
Surge
IEC 61000-4-5
±1 kV line(s) to
line(s)
±1 kV
differential mode Mains power quality should be that
of a typical commercial or hospital
environment.
±2 kV line(s) to
earth
±2 kV common
mode
Electromagnetic Compatibility
74 Passive Polaris Vega User Guide
Note UT is the a.c. mains voltage prior to application of the test level.
Voltage dips, short
interruptions and
voltage variations
on power supply
input lines
IEC 61000-4-11
<5% UT
(>95% dip in UT)
for 0.5 cycles
<5% UT
(>95% dip in UT)
for 0.5 cycles
Mains power quality should be that
of a typical commercial or hospital
environment. If the user of the
Polaris Vega System requires
continued operation during power
mains interruptions, it is
recommended that the Polaris Vega
System be powered from an
uninterruptible power supply or a
battery.
40% UT
(60% dip in UT)
for 5 cycles
40% UT
(60% dip in UT)
for 5 cycles
70% UT
(30% dip in UT)
for 25 cycles
70% UT
(30% dip in UT)
for 25 cycles
<5% UT
(>95% dip in UT)
for 5 s
<5% UT
(>95% dip in UT)
for 5 s
Power frequency
(50/60Hz) magnetic
field IEC 61000-4-8
3 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 13-2 Electromagnetic Immunity (Continued)
Immunity Test IEC 60601 Test
Level Compliance Level Electromagnetic Environment -
Guidance
Table 13-3 Electromagnetic Immunity—Not Life Supporting
Immunity Test IEC 60601
Test Level Compliance
Level Electromagnetic Environment - Guidance
Conducted RF
IEC 61000-4-6
3 Vrms
150 kHz to
80 MHz
3 V Portable and mobile RF communications equipment
should be used no closer to any part of the Polaris Vega
System, including cables, than the recommended
separation distance calculated from the equation
applicable to the frequency of the transmitter.
Recommended separation distance:
d = 1,2P
See Table 13-4 on page 76.
Electromagnetic Compatibility
Passive Polaris Vega User Guide 75
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.
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 predicted theoretically with accuracy. 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 Vega System is used exceeds the applicable RF
compliance level above, observe the Polaris Vega System to verify normal operation. If abnormal
performance is observed, additional measures may be necessary, such as re-orienting or relocating
the Polaris Vega System.
b - Over the frequency range of 150 kHz to 80 MHz, field strengths should be less than 3 V/m.
13.4 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
Radiated RF
IEC 61000-4-3
3 V/m
80 MHz to
2,5 GHz
3 V/m d = 1,2P 80 MHz to 800 MHz
d = 2,3P 800 MHz to 2,5 GHz
See Table 13-4 on page 76.
Where '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:
Table 13-3 Electromagnetic Immunity—Not Life Supporting (Continued)
Immunity Test IEC 60601
Test Level Compliance
Level Electromagnetic Environment - Guidance
Electromagnetic Compatibility
76 Passive Polaris Vega User Guide
mobile RF communications equipment (transmitters) and the Polaris Vega 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.
Table 13-4 Recommended Separation Distances between Portable and
Mobile RF Communications Equipment and the
Vega System
Rated maximum output power
of transmitter (watts)
Separation distance according to frequency of transmitter (metres)
150 kHz to 80 MHz
d = 1,2P
80 MHz to 800 MHz
d = 1,2P
800 MHz to 2.5 GHz
d = 2,3P
0,01 0,12 0,12 0,23
0,1 0,38 0,38 0,73
1 1,2 1,2 2,3
10 3,8 3,8 7,3
100 12 12 23
Electromagnetic Compatibility
Passive Polaris Vega User Guide 77
13.5 Radio Frequency Emissions
FCC
This 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,
2. 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.
Changes or modifications not expressly approved by Northern Digital Inc. could void the user’s authority to
operate the equipment.
CE Mark
CISPR 11: Class B
Industry Canada
Industry Canada Compliance Statement: This ISM device complies with Canadian ICES-003.
Avis de Conformité à la réglementation d’Industrie Canada: Cet appareil ISM est conforme à la
norme NMB-003 du Canada.
Troubleshooting
78 Passive Polaris Vega User Guide
14 Troubleshooting
14.1 Introduction
This section provides possible solutions to common problems and answers some frequently asked
questions. For further information regularly check the NDI Support Site at:
https://support.ndigital.com.
If 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 Vega 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)
Most faults are be indicated by system LEDs or audio codes, as detailed in “LEDs” on page 79 and
“Audio Codes” on page 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.
Troubleshooting
Passive Polaris Vega User Guide 79
14.2 LEDs
Position Sensor
The power and error LEDs on the Position Sensor combine to indicate Position Sensor status. The
LEDs behave as described in Table 14-1
Table 14-1 Position Sensor Indicator LEDs Summary
Power LED
(Green) Error LED
(Amber) Position Sensor Status
Off Off No power
Flashing (4
times per
second)
Off The system is booting up.
Flashing (2
times per
second)
Any state The Position Sensor is warming up. The power LED will stop flashing
and light steady green when the Position Sensor is ready for use.
On Off The Position Sensor is ready for use; no faults or error conditions
On On Minor recoverable error condition (not a fault); can easily be corrected
by a novice user (for example, bump sensor has detected a bump).
Does not prevent system operation if the application provides the
appropriate override.
NDI ToolBox response: The fault is indicated in the Configure utility
of NDI ToolBox.
On Flashing Major recoverable fault which prevents operation but can be repaired
by the user (for example incompatible firmware).
NDI ToolBox response: The fault is indicated in the Configure utility
of NDI ToolBox.
API response: One of the following responses occurs:
The “diagnostic pending” bit is set in the BX, BX2 or TX
response. To determine what the fault is, read the alerts
parameters as described in the Polaris Vega Application
Program Interface Guide.
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.
Off On Non-recoverable fault. Return the Position Sensor to NDI for service.
Troubleshooting
80 Passive Polaris Vega User Guide
14.3 Audio Codes
The Position Sensor emits audio tones that provide an audible indication of system status, as listed
in Table 14-2.
14.4 Common Problems
The following paragraphs lists specific problems and possible solutions.
The tool is inside the measurement volume, but the software reports that the tool is
partially out of volume
This may mean that fewer 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 outside 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 Vega 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 volume
If 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 31. You can check the line separation
values using the 3D command. See the Polaris Vega Application Program Interface Guide for
details.
Other IR-based devices are not working properly
Using the Polaris Vega 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 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.
Table 14-2 Audio Codes
Indication Meaning Action
Two beeps emitted Normal indication when power is initially
applied to the system or the system is reset.
No action required.
Troubleshooting
Passive Polaris Vega User Guide 81
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. 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 31 and the Polaris Tool Design Guide for details on segment lengths
and angles.)
See “Checking the Calibration of the Passive Polaris Vega System” on page 65 for more details
about calibration.
Reflections and other IR sources
Reflections and other IR sources may cause markers to become “lost” in the background IR light.
These reflections and sources should be eliminated or minimized as much as possible. Reflections
occur when IR light from the illuminators is reflected off surfaces such as:
surgical drapes: ensure the drapes are placed such the reflections are minimized
reflective surfaces: minimize 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 minimize interference from such devices.
What happens if the markers are partially blocked from the view of the Position
Sensor?
The Polaris Vega 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. 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, it is bent)
Troubleshooting
82 Passive Polaris Vega User Guide
the condition of the makers has deteriorated (for instance, the markers are scuffed or
occluded with foreign matter).
The Position Sensor seems too warm
The 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.
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.
Return Procedure and Warranty
Passive Polaris Vega User Guide 83
15 Return Procedure and Warranty
15.1 Return Procedure
In 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 https://
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.
15.2 Warranty
Unless 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 https://support.ndigital.com.
Note This warranty is void if you open the case of any system component.
Hardware
NDI 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.
Software
NDI’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 Buyers requirements or that the operation of the programs contained
therein will be error free.
General Provisions Applicable to Warranty
NDI’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
Return Procedure and Warranty
84 Passive Polaris Vega User Guide
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).
Declaration of Conformity
Passive Polaris Vega User Guide 85
16 Declaration of Conformity
Declaration of Conformity
86 Passive Polaris Vega User Guide
Abbreviations and Acronyms
Passive Polaris Vega User Guide 87
17 Abbreviations and Acronyms
Acronym or Abbreviation Definition
5DOF 5 Degrees Of Freedom
6DOF 6 Degrees Of Freedom
AAK Accuracy Assessment Kit
API Application Program Interface
CAPI Combined Application Program Interface
CMOS Complementary metal–oxide–semiconductor
CRC Cyclic Redundancy Check
DSR Data Set Ready
EEPROM Electrically Erasable Programmable Read Only Memory
EMC Electromagnetic Compatibility
EMI Electromagnetic Immunity
ESD Electrostatic Discharge
FCC Federal Communications Commission
FPS Frames Per Second
IC Industry Canada
I/O Input/Output
IR Infrared Light
IRED Infrared Light-Emitting Diode
LED Light-Emitting Diode
LPS Limited Power Source
MOOP Means of Operator Protection
MRI Magnetic Resonance Imaging
NDI Northern Digital Inc.
PoE Power Over Ethernet
RAM Random Access Memory
RF Radio Frequency
RGB Red Green Blue
RI Ring Indicator
RMA Return Materials Authorization
RMS Root Mean Square
UL Underwriters Laboratories Inc.
Equipment Symbols
88 Passive Polaris Vega User Guide
18 Equipment Symbols
Table 18-1 Equipment Symbols
Symbol Meaning System Components
Consult accompanying documents. Position Sensor
Laser Warning
(To avoid personal injury, consult
accompanying documents.)
Position Sensor
Laser Aperture
Caution
(To avoid personal injury, consult
accompanying documents.)
Position Sensor
On (power: connection to the mains
supply)
Position Sensor
Error Position Sensor
Ethernet Position Sensor
Unused communication port Position Sensor
Keep away from rain Packaging
Fragile Packaging
Retain packaging Packaging
L
A
S
E
R
A
P
E
R
T
U
R
E
Passive Polaris Vega User Guide 89
Acceptable pressure during shipping Packaging
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
Table 18-1 Equipment Symbols (Continued)
Symbol Meaning System Components
90 Passive Polaris Vega User Guide
19 Glossary
3D RMS Error
The 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.
Absolute Measurements
Absolute measurements are measurements taken directly in the Position Sensors coordinate system,
i.e. measurements reported by the system. NDI recommends not to use the system for absolute
measurements. NDI does not guarantee the stability of absolute measurements. Any movement of
the position sensor or changes in the environmental conditions (ambient temperature, warmup, etc.)
may cause the absolute measurement to change, even though the observed tool is physically not
moving. NDI recommends to use relative (or referenced) measurements.
Calibration
Calibration is the process of establishing, under specified conditions, the relationship between
values produced by the Polaris Vega System and corresponding known values established by a
device that is traceable to a national standard.
Characterized Measurement Volume
The characterized measurement volume is the volume within the detection region where accuracy is
within specified limits. NDI cannot guarantee measurement accuracy outside this region.
Faces
Tool faces are separate rigid bodies that make up a tool.
Field of View
The field of view is the total volume in which the Polaris Vega System can track a marker, regardless
of accuracy.
Firmware
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.
Glossary
Passive Polaris Vega User Guide 91
Global Coordinate System
The global coordinate system is the Polaris Vega coordinate system. The global coordinate system is
used by the Polaris Vega 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.
Illuminator
The illuminator is an array 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.
Latency
Latency is the amount of time between when a frame is captured by the video camera and when that
frame is displayed in the streaming output.
Line Separation
To 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 System
A local coordinate system is a coordinate system assigned to a specific tool or rigid body.
Maximum 3D Error
Maximum 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 Angle
Maximum 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 Marker
A passive marker is a retro-reflective passive sphere that reflects IR light emitted by the Position
Sensor.
Passive Polaris Vega System
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.
92 Passive Polaris Vega User Guide
Position Sensor
The Position Sensor is the component of the Polaris Vega 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.
Quaternion
A quaternion is a compact representation of rotations, or correspondingly, orientations in 3D space
(rather than having to use orthogonal matrices).
Reference Tool
A 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.
Relative Measurements
Relative measurements, or referenced measurements, require the use of at least two tools, one of
which is the reference. For relative measurements, all tool transformations are transformed into the
coordinate system of the reference tool. When the system is used in this way, movements of the
position sensor itself are cancelled out. NDI recommends using the system in this way.
Rigid Body
A rigid body is an object on which three or more markers are fixed relative to one another.
Tool Definition File
A 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 Offset
The tool tip offset is the vector between the tip of the tool and the tool origin.
Transformation
A 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 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 93
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 users 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 Vega 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 Passive Polaris Vega Performance
The Polaris Vega 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 Vega System’s measurement volume. Acceptance
criteria for the Polaris Vega 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 0.12 mm within
the pyramid volume, and less than or equal to 0.15 mm within the extended pyramid volume. This
criterion is based on a statistically representative set of positions distributed uniformly 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 0.06 mm within the
pyramid volume, and less than or equal to 0.08 mm within the extended pyramid volume. This
criterion is based on a statistically representative set of positions distributed uniformly throughout
the measurement volume, using 30 samples per position at 20°C.
A.2 Calibration Method
The following method is used to calculate the Polaris Vega 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
94 Passive Polaris Vega User Guide
at least 10 times better than the measured accuracy of the Polaris Vega System. This assumption
allows the errors in the marker positioning to be ignored.
At each of the n locations, the Polaris Vega System takes m readings of the markers 3D position (xij,
yij, zij).
The accuracy of the Polaris Vega 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 Vega 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 accuracy
xiaverage Xi

2yiaverage Yi

2ziaverage Zi

2
++
i1=
n
n
------------------------------------------------------------------------------------------------------------------------------------------------=
xij
xiaverage

2yij
yiaverage

2zij
ziaverage

2
++
j1=
m
i1=
n
nm
-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Passive Polaris Vega User Guide 95
Appendix B Video Camera Field of View
This appendix illustrates the relationship between the video camera field of view and the Vega
characterized measurement volume. The video camera field of view is closely but not perfectly
aligned and sized to the characterized measurement volume, as shown in 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
1080p QXGA
720p XGA
96 Passive Polaris Vega User Guide
Passive Polaris Vega User Guide 97
Appendix C White Balance Presets
The parameter values in the table below are the defaults, which are configured to provide natural
looking video output under common lighting conditions. To change these settings using the Polaris
Vega API, refer to section “Lighting Presets” on page 56. To change these settings using NDI
ToolBox, refer to the section “Configuring the video camera using NDI ToolBox” on page 58.
Table C-1 Video appearance presets
The total gain of each colour is a multiplication of the system gain and colour gain. The resultant
multiplication will be rounded to the nearest allowable gain value. Therefore, it is important to
adjust the gains in the following ranges by the recommended increments, as shown in Table C-2.
This will allow for better control of the white balance and achieve the target colour accuracy under
predetermined and custom lighting conditions.
Table C-2 Adjusting RGB gains
Parameter Blue
Gain
Green
Gain
Red
Gain
White
Balance
Name
Incandescent 2.25 1 0.625
Fluorescent 2.625 1 1
LED 4500K: LED lights
combined with overhead
fluorescent light
2 1 0.875
Halogen operating room
combined with overhead
fluorescent light
2.325 1 0.625
Natural light combined with
overhead fluorescent light
211
Brightness 16
Contrast 1
System Gain 1
Vertical Flip On
Gain range Increment
0 – 4 0.125
4.25-8 0.25
8 - 128 1
98 Passive Polaris Vega User Guide
Passive Polaris Vega User Guide 99
Index
Index
Symbols
.rom file, 37
Numerics
3D RMS
error, 90
repeatability acceptance criterion, 93
volumetric accuracy acceptance criterion, 93
3-marker lock-on, 32
5DOF, 36
6DOF, 36
A
AAK
see Accuracy Assessment Kit
abbreviations, 87
absolute measurements, 27, 90
accessories, 13, 72
accuracy
acceptance criterion, 93
Accuracy Assessment Kit, 46, 65, 93
acquiring tools, 31
acronyms, 87
active markers, 36
active wireless tools, 8, 34
anaesthetics, 10
API commands
BEEP, 7
BX, 28, 43, 46, 63
BX2, 28
GET, 5, 7, 52, 57, 78
GETINFO, 57
SET, 7, 47, 48, 49, 52, 64
TX, 28, 43, 46, 63
approvals, 67
audio codes, 7, 79, 80
B
background IR light, 11, 62, 63
BEEP command, 7
beeper, 7
boot loader, 65
bump sensor, 7, 46, 65
battery, 47
BX command, 28, 43, 46, 63
BX2 command, 28
C
cables
connecting, 13
IEC compliance, 72
warning, 13
calibration
checking, 65
definition, 90
method, 93
calibrator, 41
cautions, xi
characterization, 37
characterized measurement volume, 1, 28, 90
extended pyramid volume, 30
pyramid volume, 29
classifications, 69
common problems, 80
computer requirements, 3
Config.Password, 49
configuration options, 2
conformity, declaration of, 85
connecting hardware, 13
coordinate system
global, 28, 91
local, 36, 91
D
data transmission rate, 44
declaration of conformity, 85
decontamination policy, 83
detecting markers, 31
dimensions, 71
disclaimers, xii
dynamic range control, 31
100 Passive Polaris Vega User Guide
Index
E
electrical shock protection, 69
electromagnetic
compatibility, 72
emissions, 72
immunity, 73
environmental
conditions, 70
requirements, 10
equipment symbols, 88
errors
audio codes, 7, 79
common problems, 80
error flags tutorial, 20
LED, 5, 46, 79
maximum 3D, 91
tool transformation, 27
ESD
electrostatic discharge, 13
ethernet switch, 4
extended pyramid volume, 30
eye safety, 67
F
face, 90
face normal, 36
FCC compliance, xii
feature keys, 48
field of view, 28, 90
firmware
definition, 90
multiple versions, 49, 66
updating, 65
flags, 27
flammable materials, 10, 69
frame, 90
frame number, 27
G
gases, 10
geometry, 36
GET command, 5, 7, 52, 57, 78
global coordinate system, 28, 91
grounding point, 6
H
hardware warranty, 83
harmonic emissions, 73
host computer requirements, 3
host interface update rate, 71
I
IEC standards, 3, 4
illuminators, 4, 31, 67, 91
indicator LEDs
bump sensor, 46
error, 5, 79
on Position Sensor, 5, 14
power, 5, 79
troubleshooting, 79
Info.Status.Alerts, 5, 46, 78
Info.Status.Bump Detected, 46
Info.Status.New Alerts, 46
information and error flags tutorial, 20
ingress protection, 69
input voltage, 71
installing NDI ToolBox
Linux, 15
Mac, 15
Silent, 15
Windows, 14
integration time, 31, 62
IR light, 11
IR sensitivity level
about, 62
changing, 63
description, 63
IRED, 34, 36
K
keyed features, 48
L
label
laser, 6, 48
serial number, 6
Passive Polaris Vega User Guide 101
Index
laser
about, 3, 47, 50
activation button, 6
aperture, 5
classification, 69
label, 6, 48
safety, 48, 67
specifications and standards, 48
latency, 91
LEDs, 5, 14, 46, 79
line of sight, 10, 11
line separation, 31, 43, 91
local coordinate system, 36, 91
M
maintenance, 60
marker geometry, 36
markers
detection, 31
passive, 91
phantom, 43
status, 27
stray, 42
maximum 3D error, 37, 91
maximum marker angle, 37, 91
maximum update rate, 71
measurement volume
see characterized measurement volume
measurements
absolute, 90
relative, 92
minimum number of markers, 32, 39
minimum spread, 39
missing transformations, 81
mounting
Position Sensor, 6
technical specifications, 71
MRI environment, 11
multi firmware feature key, 49, 66
N
NDI ToolBox, 9, 64, 82
installing, 14, 15
uninstalling, 16
normals,face, 36
O
offset, 40
operating environment, 10, 70
operating temperature, 11
optical path, 10, 11
optical radiation safety, 67
orientation of tool, 27
origin of a tool, 40
out of volume, 27, 30
output voltage, 71
overview, system, 1
P
Param.Bump Detector.Bumped, 46
Param.Bump Detector.Clear, 47
Param.Laser.Laser Status, 48
Param.Tracking.Sensitivity, 64
Param.Video Camera.Allow Streaming, 52
parameters, 37, 40
maximum 3D error, 37
maximum marker angle, 37
minimum number of markers, 39
minimum spread, 39
partially out of volume, 27, 30
passive sphere markers, 34, 91
sterilization, 34
passive system, 91
passive tools, 8, 33
password protection, 49
phantom markers, 43
pivoting, 42, 91
tutorial, 23
position of tool, 27
102 Passive Polaris Vega User Guide
Index
Position Sensor, 31, 92
audio codes, 7, 80
bump sensor, 7
cleaning, 60
connecting, 13
error LED, 5, 79
front view, 4
illuminators, 4, 67
indicator LEDs, 5
laser, 6, 67
LEDs, 5
mounting, 6
operating environmental conditions, 70
overview of operation, 4
power LED, 5, 79
rear view, 6
sensors, 4
serial number label, 6
technical specifications, 71
temperature, 82
transportation and storage conditions, 70
warm-up time, 5, 11, 14, 79
positioning laser, 5, 47, 50
power adapter
operating environmental conditions, 70
transportation and storage conditions, 70
power consumption, 71
power LED, 5, 79
problems, common, 80
pyramid volume, 29
Q
quaternion, 27, 92
R
radio frequency
communications, 11
emissions, 73
user parameters
VCU-0.Param.White Balance., 56
VCU-0.Param.White Balance., 56
reference tool, 22, 42, 92
relative measurements, 27, 92
requirements, host computer, 3
return procedure, 83
rigid body, 92
RMA number, 83
RMS
error, 27
S
safe boot loader, 65
safety
laser, 48
optical radiation, 67
shock protection, 69
sampling rate, 33
sensitivity to IR light, 62, 63
sensor, 4
separation distances, 75
serial number label
Position Sensor, 6
SET command, 7, 47, 48, 49, 52, 64
SGETINFO command, 57
shock protection, 69
software
CAPI, 9
NDI ToolBox, 9
warranty, 83
solvents, 10
spectral response, 44
status
marker, 27
system, 27, 79
tool, 27
sterilization, 60, 69
storage
conditions, 70
temperature, 11
stray markers, 27, 42
support site, xiii
symbols, 88
system
beeper, 7
overview, 1
status, 27
T
technical specifications, 70, 71
temperature, operating, 11
three-marker lock-on, 32
tip offset, 40
tool definition file, 8, 9, 37, 92
tool tip offset, 23, 40, 92
tool tracking parameters, 37, 40
ToolBox
see NDI ToolBox
Passive Polaris Vega User Guide 103
Index
tools
5DOF, 36
6DOF, 36
about, 7
acquiring, 31
active wireless, 8, 34
error value, 27
geometry, 36
missing, 27
multi-face, 36
orientation, 27
passive, 8, 33
position, 27
status, 27
tracking, 31
transformation, 27
using as reference, 42, 92
tracking
about, 31
error, 27
flags, 27
tutorial, 20
transformations, 27
definition, 92
out of volume, 27
transportation conditions, 70
trigger level, 31, 62
troubleshooting, 79
tutorial
error flags, 20
getting started, 20
information and error flags, 20
pivot, 23
reference tool, 22
tool tip offset, 23
tracking tools, 20
TX command, 28, 43, 46, 63
U
uninstalling NDI ToolBox
Linux, 16
Mac, 16
Windows, 16
unique geometry, 36, 92
unpacking the system, 10
update information, xiii
updating firmware, 65
user parameters
Config.Password, 49
Info.Status.Alerts, 5, 46, 78
Info.Status.Bump Detected, 46
Info.Status.New Alerts, 46
Param.Bump Detector.Bumped, 46
Param.Bump Detector.Clear, 47
Param.Laser.Laser Status, 48
Param.Tracking.Sensitivity, 64
Param.Video Camera.Allow Streaming, 52
VCU-0.Param.Brightness, 56
VCU-0.Param.Camera.Resolution, 57
VCU-0.Param.Contrast, 56
VCU-0.Param.Exposure Time, 56
VCU-0.Param.Lens, 57
VCU-0.Param.Stream Preset, 57
VCU-0.Param.System Gain, 56
VCU-0.Param.White Balance.Gains, 56
VCU-0.Param.White Balance.Name, 56
V
VCU-0.Param.Brightness, 56
VCU-0.Param.Camera.Resolution, 57
VCU-0.Param.Contrast, 56
VCU-0.Param.Expospure Time, 56
VCU-0.Param.Lens, 57
VCU-0.Param.Stream Preset, 57
VCU-0.Param.System Gain, 56
VCU-0.Param.White Balance.Gains, 56
VCU-0.Param.White Balance.Name, 56
video camera, 3, 52
voltage, 71
volume
see characterized measurement volume
W
warm-up time, 5, 11, 14, 79
warnings, ix
warranty
general provisions, 83
hardware, 83
software, 83
weight, 71

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