Northern Digital Polaris Vicra User Manual
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Northern Digital Polaris Vicra User Manual

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Polaris Vicra User Guide
Revision 2
October 2005
IMPORTANT
Please read this entire document
before attempting to operate
the Polaris Vicra System

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Summary of Contents for Northern Digital Polaris Vicra

  • Page 1 Polaris Vicra User Guide Revision 2 October 2005 IMPORTANT Please read this entire document before attempting to operate the Polaris Vicra System...
  • Page 2 Revision Status Revision Number Date (DD/MM/YY) Description Revision 1 27/09/05 Initial release Revision 2 19/10/05 minor updates Part Number: IL-1070100 Copyright 2005 Northern Digital Inc. All Rights Reserved. p Printed in Canada.
  • Page 3 The user’s right to recover damages caused by fault or negligence on the part of Northern Digital Inc. shall be limited to the amount paid by the user to Northern Digital Inc. for the provi- sion of this document.
  • Page 4 Polaris Vicra User Guide - Revision 2...

  • Page 5: Table Of Contents

    2.1 Unpacking the Polaris Vicra System ........
  • Page 6 5.2 Tracking Errors and Flags ..........49 5.3 Polaris Vicra System LEDs and Audio Codes......51 6 Maintenance .
  • Page 7 8 Calibration and Firmware ............57 8.1 Checking the Calibration of the Polaris Vicra System ..... . . 57 8.2 Updating the Firmware .
  • Page 8 18 Declaration of Conformity ............84 Appendix A Polaris Vicra Calibration Performance and Methodology ......85 A.1 Polaris Vicra Performance .
  • Page 9 Figure 1-1 Polaris Vicra Measurement Volume ........
  • Page 10 Figure 18-1 EC Declaration of Conformity ......... 84 Polaris Vicra User Guide - Revision 2...
  • Page 11 Table 13-2 NDI ToolBox Error Messages ......... 73 Polaris Vicra User Guide - Revision 2...
  • Page 12 List of Tables viii Polaris Vicra User Guide - Revision 2...

  • Page 13: Read Me First

    9. Do not immerse any part of the Polaris Vicra System or allow fluid to enter the equipment. If fluids enter any part of the system they may damage it and present a risk of personal injury.

  • Page 14: Cautions

    If your application involves personal safety, these incorrect interpretations increase the possibility of personal injury. 13. Do not use a wireless tool whose design does not conform to the Polaris Vicra System's unique geometry constraints. When a Polaris Vicra System attempts to track more than one wireless tool in the measurement volume, these unique geometry constraints ensure that they are distinguishable from each other.

  • Page 15: Disclaimers

    See Section 12.6 on page 68 for further information. 3. The user must determine the suitability of the Polaris Vicra System for their own application. 4. The Underwriters Laboratories Inc. (UL) recognition of the Polaris Vicra System includes only the Polaris Vicra Position Sensor, Host USB Converter and the APS APS49ES-24021/Hitron HES49ES-24021 power adapter.

  • Page 16: Contact Information

    Read Me First! 9. The Polaris Vicra System emits IR light that may interfere with IR controlled devices, such as operating room tables. It is recommended that you test the Polaris Vicra System if you intend to use it in an environment where other IR controlled devices are in use.

  • Page 17: About This Guide

    Setting the Infrared Light Sensitivity • Maintenance These sections may be needed for occasional reference; typically, you will not need to refer to them during the day-to-day operation of the Polaris Vicra System: • Calibration and Firmware • Approvals and Classifications •...

  • Page 18: Polaris Vicra System Overview

    Polaris Vicra System Overview Introduction The Polaris Vicra System is an optical measurement system that measures the 3D positions of either active or passive markers affixed to application-specific tools. Using this information, the Polaris Vicra System is able to determine the position and orientation of tools within a specific measurement volume.

  • Page 19: Position Sensor

    Figure 1-2 Polaris Vicra System Setup Position Sensor The Position Sensor is the main component of the Polaris Vicra System. An overview of its operation is as follows: 1. The Position Sensor emits infrared (IR) light from its illuminators, similar to the flash on a conventional camera.

  • Page 20: Figure 1-3 Position Sensor - Front View

    (The nature of the error is described on the NDI ToolBox initial page.) If you are using your own applications, use the GET command to read the “Info.StatusAlert” parameter to check the alert status. Refer to the “Polaris Application Program Interface Guide” for further information. Polaris Vicra User Guide - Revision 2...

  • Page 21: Figure 1-4 Position Sensor - Rear View

    If the host computer does not send a command to the system within a given time, the Position Sensor will emit two quick tones every three seconds. (This feature is an application watchdog and is set by the API command HWCDOG.) Polaris Vicra User Guide - Revision 2...
  • Page 22 To maintain an ingress protection level of IP 54, the Position Sensor cable (attached to the Host USB Converter) must be plugged in. For details on connecting the system, see “Connecting the Hardware” on page Polaris Vicra User Guide - Revision 2...

  • Page 23: Host Usb Converter

    Mounting Feet: Three feet that incorporate an internal thread (M6 x 1 mm pitch x 4 mm depth) to allow the Host USB Converter to be attached to an external structure (for example, a cart). For free- standing use, rubber inserts are located in the mounting feet. Polaris Vicra User Guide - Revision 2...

  • Page 24: Power Adapter

    Host USB Converter. Power Adapter Power Cable: Connects the power adapter to the mains supply. This cable is a medical grade AC line cord. Polaris Vicra User Guide - Revision 2...

  • Page 25: Polaris Vicra Tools

    The Position Sensor requires a tool definition file for each tool. A tool definition file describes a tool to the Position Sensor (including the tool’s marker geometry). The tool definition file for a particular tool must be loaded from the host computer before the Polaris Vicra System can track that tool. Note For more information on tool definition files, see “Tool Definition File”...

  • Page 26: Polaris Vicra System Software

    2600596 Polaris Vicra CD 1800042 Polaris Vicra User Guide IL-1070100 Note Additional components are available to support the Polaris Vicra System. Contact NDI for further details, or visit the Support site at http://support.ndigital.com Polaris Vicra User Guide - Revision 2...

  • Page 27: Setting Up The Polaris Vicra System

    “Return Procedure” on page 77 for instructions on returning your system to NDI. Polaris Vicra System Operating Environment In order for the Polaris Vicra System to operate correctly, the system must be set up in an environment that meets the following criteria: Warnings...
  • Page 28 Setting Up the Polaris Vicra System 7. Do not immerse any part of the Polaris Vicra System or allow fluid to enter the equipment. If fluids enter any part of the system they may damage it and present a risk of personal injury.
  • Page 29 10 minutes, plus an additional 40 minutes to account for the difference in temperature. • The operating environment is as close as possible to 20ºC. The Polaris Vicra System is characterized at 20ºC and is therefore most accurate at this temperature. •...

  • Page 30: Mounting The Position Sensor

    Position Sensor dimensions and mounting arrangement. M3x0.5x9 13.43 3 Places 20.14 37.85 11.63 23.25 Detail A Thread 1/4-20x10 See Detail A All dimensions in mm Figure 2-1 Position Sensor Mounting Details Polaris Vicra User Guide - Revision 2...

  • Page 31: Mounting The Host Usb Converter

    2. Connect the USB cable B plug and power adapter cable to the Host USB Converter, as shown in Figure 2-3. 3. Locate the top and bottom cable covers in place on the Host USB Converter. Secure the covers with the thumbscrew, as shown in Figure 2-3. Polaris Vicra User Guide - Revision 2...

  • Page 32: Installing The Software

    NDI Support Site at http://support.ndigital.com. Note The Polaris Vicra CD does not contain NDI 6D Architect. That software application is located on the CD that accompanies the developer kit. NDI Combined API Sample To install NDI Combined API Sample, copy the contents of the “CombinedAPISample” folder from the Polaris Vicra CD onto the host computer.

  • Page 33: Installing The Usb Drivers (Windows)

    “Linux Support” on page To install NDI ToolBox: Follow the on-screen instructions from the auto-run window that appears when you insert the Polaris Vicra CD into the drive. Alternatively, on the Polaris Vicra CD, browse to Windows\ToolBox\ directory and double-click install.exe.

  • Page 34: Linux Support

    Windows XP, “Search for a suitable driver” in Windows 2000.) 3. Browse to the folder containing the drivers, either on the host computer or on the Polaris Vicra CD. Windows will automatically select the correct drivers from the folder.
  • Page 35 NDI ToolBox Install NDI ToolBox as follows: 1. On the Polaris Vicra CD, browse to Linux/ToolBox/install.bin. 2. Follow the on-screen instructions to complete the process. The default installation location is <user_account>/ToolBox. 3. The installation of NDI ToolBox also downloads the kernel patch file to apply to drivers for the Host USB Converter.

  • Page 36: Keyed Features

    See Contact Information on page 4 for your nearest NDI location. Refer to NDI ToolBox application software online help for details on retrieving your current system configuration and for installing additional keyed features. Polaris Vicra User Guide - Revision 2...

  • Page 37: How The Polaris Vicra System Works

    Warning! injury. When the Polaris Vicra System is tracking tools, it returns information about those tools to the host computer. The system by default returns: • the position of each tool’s origin, given in mm, in the coordinate system of the Position Sensor (see “Global Coordinate System”...

  • Page 38: Global Coordinate System And Measurement Volume

    For more information on reference tools, see “Reference Tool” on page Field of View and Characterized Measurement Volume The field of view is the total volume in which the Polaris Vicra System can detect a marker, regardless of accuracy. Polaris Vicra User Guide - Revision 2...

  • Page 39: Figure 3-2 Characterized Measurement Volume

    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. By default, the Polaris Vicra System reports tools with markers that are outside of the characterized measurement volume as MISSING. You can tell the Polaris Vicra System to report the...

  • Page 40: Marker Detection And Tool Tracking

    “Setting the Infrared Light Sensitivity” on page 54 more details. Acquiring and Tracking Tools When the Polaris Vicra System first begins tracking a tool, or whenever a tool goes missing, it must “acquire” the tool. (For information on why a tool goes missing, see “Missing and Disabled Transformations”...

  • Page 41: Figure 3-3 Determining A Marker Position

    Three Marker Lock On If the “3 marker lock on” option is enabled in the tool definition file, the Polaris Vicra System will acquire and track the tool as long as it can detect at least three markers. The system will not report the transformations unless the minimum number of markers is used to calculate the transformation.

  • Page 42: Polaris Vicra System Tools

    Multi-Faced Tool Tracking When the Polaris Vicra System is tracking a multi-faced tool, it tracks only one face at a time. The face being tracked is returned with reply option 0x0002 of the BX and TX commands, and is reported in NDI ToolBox (see the online help in NDI ToolBox for more details).

  • Page 43: Tool Definition File

    Each face is assigned a face normal in the tool definition file (described on page 31). The face normal is a vector pointing in the same direction as the tool face, to let the Polaris Vicra System know the direction each tool face is facing. The system will track the face most directly oriented to the Position Sensor (i.e.

  • Page 44: Figure 3-4 Marker With Marker Normal

    NDI Mounting Post Figure 3-4 Marker With Marker Normal The Polaris Vicra System uses the marker normal to determine whether the maximum marker angle has been exceeded. The system measures the angle between the marker normal and each sensor, in both the Position Sensor’s xy- and yz-planes.
  • Page 45 MISSING. Note You can tell the Polaris Vicra System to report the positions of tools that have less than the minimum number of markers inside the characterized measurement volume by using reply option 0x0800 with the TX or BX command.

  • Page 46: Figure 3-6 Flowchart Of Tool Tracking Parameters Use

    Are the spread parameters satisfied? Return tool transformation & Return MISSING & status and error information status and error information Figure 3-6 Flowchart of Tool Tracking Parameters Use Polaris Vicra User Guide - Revision 2...

  • Page 47: Tool Tip Offset

    Note The Polaris Vicra System always tracks the origin of the tool. It is the application software, not the Polaris Vicra System, that calculates the location of the tool tip. Determining the tool tip offset prior to each use ensures that the location of the tool tip is known as accurately as possible.The tool tip offset can be determined either by using a calibrator, or by...

  • Page 48: Reference Tool

    Use a reference tool to ensure minimal drift in the measurements produced; specifically, drift caused by time, settling and/or temperature. It is the application software, not the Polaris Vicra System, that calculates the tool transformations with respect to the reference tool.

  • Page 49: Stray Marker Reporting

    Position Sensor. If the Polaris Vicra cannot track the reference tool (for example, if the reference tool is occluded), then the software will not be able to calculate the transformations of other tools with respect to the reference tool.

  • Page 50: Phantom Markers

    3-8). Where the lines cross each other, the Polaris Vicra System calculates the line separation (the distance between the lines). If the line separation at this point is less than a predefined limit, the Polaris Vicra System considers the point to be a possible marker position.

  • Page 51: Active Markers

    The result is a band pass filter from 800 nm to 1100 nm. Environmental light in this range can affect the performance of the Polaris Vicra System. The more intense the environmental light in this range, the higher the probability that it will interfere with the system.

  • Page 52: Data Transmission Rate

    The Host USB Converter emulates a standard PC serial port, such that the host application may communicate with the Polaris Vicra System as if it was a standard RS-232 device. A feature of this is that the following modem status bits are used as follows: •...

  • Page 53: Using The Polaris Vicra System

    Using the Polaris Vicra System Using the Polaris Vicra System This chapter is intended as a tutorial to demonstrate the basic functionality of the Polaris Vicra System using NDI ToolBox. The tutorial is designed for first time users of the system to: •...

  • Page 54: Information And Error Flags

    NDI ToolBox will display the message “Partially Out of Volume.” Once the tool is completely outside of the volume (all markers are outside the volume), NDI ToolBox will display the message “Out of Volume.” Polaris Vicra User Guide - Revision 2...

  • Page 55: Figure 4-2 Partially Out Of Volume Flag

    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. Polaris Vicra User Guide - Revision 2...

  • Page 56: Setting A Tool As 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. Polaris Vicra User Guide - Revision 2...

  • Page 57: Determining The Tool Tip Offset

    Reference Tool Note The Polaris Vicra System still calculates the tool transformations in the coordinate system of the Position Sensor. The NDI ToolBox software then calculates and reports the tool transformations with respect to the reference tool. Determining the Tool Tip Offset...

  • Page 58: Figure 4-7 Selecting A Tool To Pivot

    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. Polaris Vicra User Guide - Revision 2...

  • Page 59: Figure 4-8 Pivoting Technique

    Divot Figure 4-8 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 4-9 Pivot Result Dialog Polaris Vicra User Guide - Revision 2...

  • Page 60: Error Flags And Codes

    Error Flags and Codes Error Flags and Codes This chapter lists error flags that the Polaris Vicra System may return, and what each one means. It also lists the LED and audio indications output by the Position Sensor. Missing and Disabled Transformations Normally, the Polaris Vicra System reports a position, orientation, and error value for every transformation.

  • Page 61: Tracking Errors And Flags

    The flag typically comes on when the system is overloaded, ie it cannot handle the scene. Remove some tools and/or markers from the scene to prevent this flag from being triggered. Polaris Vicra User Guide - Revision 2...
  • Page 62 0x0002. Option 0x0008 will report all markers associated with a tool, regardless of individual marker status. The marker information can provide further indication about the "quality" of the reported 3D position. Polaris Vicra User Guide - Revision 2...

  • Page 63: Polaris Vicra System Leds And Audio Codes

    Error Flags and Codes Polaris Vicra System LEDs and Audio Codes The Polaris Vicra System components are equipped with LEDs and audio codes to communicate the system status. Position Sensor LEDs • Power LED : Flashes green during system warm-up.

  • Page 64: Maintenance

    3. Do not immerse any part of the Polaris Vicra System or allow fluid to enter the equipment. If fluids enter any part of the system they may damage it and present a risk of personal injury.

  • Page 65: Cables And Connectors

    Make sure that mains power is disconnected before connecting or disconnecting cables. Failure to do so may cause damage to the equipment. Figure 6-1 How to Avoid Stressed Cables The Polaris Vicra System incorporates a number of different connectors: • self-locking circular connector •...

  • Page 66: Setting The Infrared Light Sensitivity

    (reflections off shiny surfaces or draping). In particular, IR light in the 800 nm to 1100 nm range can interfere with the Polaris Vicra System’s ability to track tools. For example, some types of operating room lights emit IR light that is detected as background IR.

  • Page 67: Changing The Sensitivity Level

    Level 4 is the default sensitivity level for the Polaris Vicra System and should work well in most situations.
  • Page 68 Changing the Sensitivity Level You can change the IR sensitivity of the Polaris Vicra System using either NDI ToolBox or the SENSEL command. The NDI ToolBox software can be used to select a sensitivity level, and to program a sensitivity level as the default setting in the Position Sensor memory.

  • Page 69: Calibration And Firmware

    If the Position Sensor begins to lose calibration, it may lose the ability to track some tools before others. This is due to the various constraints used by the Polaris Vicra System, which make certain tool designs more sensitive to loss of calibration than others. For example, consider a tool that has several similar segment lengths or similar angles between segments, or has segment lengths similar to those of another tool.

  • Page 70: Updating The Firmware

    For information on the accuracy assessment procedure and AAK, contact NDI. Updating the Firmware The Polaris Vicra System’s firmware is stored in an EPROM flash memory device in the Position Sensor. The latest firmware can be downloaded from the NDI Support Site at http://support.ndigital.com.

  • Page 71: Approvals

    The Polaris Vicra System emits IR light that may interfere with IR controlled devices, such as operating room tables. It is recommended that you test the Polaris Vicra System if you intend to use it in an environment where other IR controlled devices are in use.

  • Page 72: Classifications

    Not suitable for use in the presence of a flammable anaesthetic mixture with air, oxygen or nitrous oxide Mode of operation Continuous when supplied by mains Method of sterilization or Not suitable for sterilization disinfection Polaris Vicra User Guide - Revision 2...

  • Page 73: Technical Specifications

    A calibration procedure must be performed before using the Position Sensor after it has been transported or stored outside the recommended storage temperature range. Polaris Vicra User Guide - Revision 2...

  • Page 74: Host Usb Converter

    Technical Specifications Caution! To ship the Polaris Vicra System, repack it in the original containers with all the supplied protective packaging. The provided packaging is designed to prevent damage to the equipment. Table 11-3 Position Sensor - Transportation and Storage Environmental Conditions...

  • Page 75: Power Adapter

    Temperature C to +30 Table 11-9 Power Adapter - Transportation and Storage Environmental Conditions Specification Value Atmospheric Pressure 50 kPa to 106 kPa Relative Humidity 10% to 90% non-condensing Temperature C to +50 Polaris Vicra User Guide - Revision 2...

  • Page 76: Electromagnetic Compatibility

    It is not a good practice to use the Polaris Vicra System either adjacent to, or stacked with, other equipment. Check that the Polaris Vicra System is operating normally if it is used either adjacent to, or stacked with, other equipment.

  • Page 77: Guidance And Manufacturer's Declaration - Electromagnetic Emissions

    (See Table 12-3 on page 65). The customer or the user of the Polaris Vicra System should ensure that it is only used in such an environment. Table 12-3 Electromagnetic Immunity IEC 60601 Test...
  • Page 78 5 sec Power frequency 3 A/m 3 A/m Power frequency magnetic fields should be at levels (50/60Hz) magnetic field characteristic of a typical IEC 61000-4-8 location in a typical commercial or hospital environment. Polaris Vicra User Guide - Revision 2...

  • Page 79: Table 12-4 Electromagnetic Immunity - Not Life Supporting

    If the measured field strength in the location where the Polaris Vicra System is used exceeds the applicable RF compliance level above, observe the system to verify normal operation. If abnormal performance is observed, additional measures may be necessary, such as re-orienting or relocating the Polaris Vicra System.

  • Page 80: Recommended Separation Distances

    The Polaris Vicra System is intended for use in an electromagnetic environment in which radiated RF disturbances are controlled. The customer or the user of the Polaris Vicra System can help prevent electromagnetic interference by maintaining a minimum distance between portable and mobile RF communications equipment (transmitters) and the Polaris Vicra System, as recommended below according to the maximum output power of the communications equipment.
  • Page 81 CE Mark: This is a Class B product. In a domestic environment, this product may cause radio interference, in which case the user may be required to take adequate measures. Changes or modifications not expressly approved by Northern Digital Inc. could void the user’s authority to operate the equipment.

  • Page 82: Troubleshooting

    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 Vicra System can be grouped into one of the following categories: •...
  • Page 83 Host USB Converter: A fault has been detected Refer to Figure 13-1 for action Error LED is lit by the Host USB Converter Polaris Vicra User Guide - Revision 2...

  • Page 84: Ndi Toolbox Error Messages

    NDI ToolBox Error Messages The NDI ToolBox application software displays a box around the appropriate icon and an associated error message in the status message area for a number of possible system fault conditions. The Polaris Vicra User Guide - Revision 2...

  • Page 85: Table 13-2 Ndi Toolbox Error Messages

    “Temperature compensation fault. Return for Replace Position Sensor service” No icon “Control firmware missing or corrupted” and Reload/update firmware “Unable to initialize the system” No icon “Internal flash memory is full” Replace Position Sensor Polaris Vicra User Guide - Revision 2...

  • Page 86: Common Problems

    3D command. See the “Polaris Application Program Interface Guide” for details. Other IR-based devices are not working properly Using the Polaris Vicra System in the same room as other IR-based devices may cause these other devices to malfunction. The Position Sensor’s illuminators flood the surrounding area with IR light, which could saturate other IR receiving devices, preventing them from properly receiving other IR signals.
  • Page 87 What happens if the markers are partially blocked from the view of the Position Sensor? The Polaris Vicra System requires a clear line-of-sight to the markers. Anything that interferes with the line-of-sight can reduce the measurement accuracy. The magnitude of the errors that are caused by partial occlusion of the markers depends on the number of markers, the geometry of the tool, and the severity of the occlusion.
  • Page 88 Troubleshooting The Virtual Serial Port cannot be opened If you cannot open the virtual serial port, check the system connections, the Host USB Converter and the host PC USB port. Polaris Vicra User Guide - Revision 2...

  • Page 89: Return Procedure And Warranty

    NDI makes no warranties, express or implied, that the functions contained in the software product(s) will meet the Buyer’s requirements or that the operation of the programs contained therein will be error free. Polaris Vicra User Guide - Revision 2...
  • Page 90 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). Polaris Vicra User Guide - Revision 2...

  • Page 91: Abbreviations And Acronyms

    Infrared Light IRED InfraRed Light Emitting Diode Light Emitting Diode Magnetic Resonance Imaging Northern Digital Inc. Operating Room PROM Programmable Read Only Memory Radio Frequency Return Materials Authorization Root Mean Square Universal Serial Bus Polaris Vicra User Guide - Revision 2...

  • Page 92: Equipment Symbols

    On (power: connection to the mains supply) Position Sensor Host USB Converter Status Position Sensor Error Position Sensor Host USB Converter Direct Current Host USB Converter USB Port Host USB Converter Connection Port Position Sensor Polaris Vicra User Guide - Revision 2...

  • Page 93: Glossary

    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 Vicra System can track a marker, regardless of accuracy. Firmware Firmware is a computer program stored in an NDI hardware device and controls the Polaris Vicra System.
  • Page 94 Pivoting is a procedure (of rotating a tool about its tip) used to determine the tool tip offset. Position Sensor The Position Sensor is the component of the Polaris Vicra System that provides a source of IR light for passive markers, collects marker position data from both active and passive markers, calculates tool transformations, and sends the results to the host computer.
  • Page 95 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. Polaris Vicra User Guide - Revision 2...

  • Page 96: Declaration Of Conformity

    Declaration of Conformity Declaration of Conformity Figure 18-1 is a copy of the EC Declaration of Conformity for the Polaris Vicra System. Figure 18-1 EC Declaration of Conformity Polaris Vicra User Guide - Revision 2...

  • Page 97: Appendix A Polaris Vicra Calibration Performance And Methodology

    10 times better than the measured accuracy of the Polaris Vicra System. This assumption allows the errors in the marker positioning to be ignored. At each of the n locations, the Polaris Vicra System takes m readings of the marker’s 3D position Polaris Vicra User Guide - Revision 2...
  • Page 98 Polaris Vicra Calibration Performance and Methodology The accuracy of the Polaris Vicra System is calculated as the RMS variation of the mean of m readings about the true 3D location calculated across all n locations throughout the measurement volume. The repeatability of the Polaris Vicra System is calculated as the RMS variation of the m readings about the average of the 3D readings at each location n.
  • Page 99 Host USB Converter Position Sensor cables errors connecting out of volume cables and accessories cables and connectors calibration calibration method calibrator CAPI Sample face installing face normal cautions Polaris Vicra User Guide - Revision 2...
  • Page 100 API command SENSEL ingress protection NDI 6D Architect installing installation software NDI CAPI Sample USB drivers installing integration time NDI Firmware Update Utility IR light installation IRED NDI Sensitivity Utility installation NDI ToolBox Polaris Vicra User Guide - Revision 2...
  • Page 101 Position Sensor setting a tool as reference cleaning software connector installing front view NDI CAPI Sample mounting NDI ToolBox operating environmental conditions ToolBox rear view Polaris Vicra User Guide - Revision 2...
  • Page 102 ToolBox installing tools 5DOF 6DOF warnings acquiring warranty geometry general provisions multi-face hardware tracking software using as reference tracking error Polaris Vicra User Guide - Revision 2...

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