Northern Digital Polaris Vicra User Manual (English)

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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

Table of Contents5
Read Me First13
Warnings13
Cautions14
Disclaimers15
Contact Information16
Updates16
About this Guide17
Organization of Content17
Polaris Vicra System Overview18
Introduction18
Figure 1-1 Polaris Vicra Measurement Volume18
Position Sensor19
Figure 1-2 Polaris Vicra System Setup19
Figure 1-3 Position Sensor - Front View20
Figure 1-4 Position Sensor - Rear View21
Figure 1-5 Position Sensor - Serial Number Label21
Host USB Converter23
Power Adapter24
Cables24
Figure 1-6 Host USB Converter24
Figure 1-7 Host USB Converter Serial Number Label24
Polaris Vicra Tools25
Figure 1-8 Sample Passive Tool25
Polaris Vicra System Software26
Component Parts List26
Table 1-1 Component Parts List26
Setting up the Polaris Vicra System27
Unpacking the Polaris Vicra System27
Polaris Vicra System Operating Environment27
Mounting the Position Sensor30
Figure 2-1 Position Sensor Mounting Details30
Mounting the Host USB Converter31
Connecting the Hardware31
Figure 2-2 Host USB Converter Mounting Details31
Installing the Software32
Figure 2-3 Connecting Cables to the Host USB Converter32
Installing the USB Drivers (Windows)33
Linux Support34
Keyed Features36
How the Polaris Vicra System Works37
Introduction37
Information Returned by the Polaris Vicra System37
Global Coordinate System and Measurement Volume38
Figure 3-1 Position Sensor Global Coordinate System38
Figure 3-2 Characterized Measurement Volume39
Marker Detection and Tool Tracking40
Figure 3-3 Determining a Marker Position41
Polaris Vicra System Tools42
Tool Definition File43
Tool Tracking Parameters43
Figure 3-4 Marker with Marker Normal44
Figure 3-5 Maximum Marker Angle44
Figure 3-6 Flowchart of Tool Tracking Parameters Use46
Tool Tip Offset47
Reference Tool48
Figure 3-7 Sample Calibrator48
Stray Marker Reporting49
Phantom Markers50
Passive Sphere Markers50
Figure 3-8 Phantom Markers50
Active Markers51
Filter Spectral Response51
Data Transmission Rate52
Serial Port Emulation52
Figure 3-9 Filter Spectral Response52
Using the Polaris Vicra System53
Getting Started: Tracking Tools53
Information and Error Flags54
Figure 4-1 Tool Tracking Window54
Figure 4-2 Partially out of Volume Flag55
Figure 4-3 Markers Information Pane - Missing Marker55
Figure 4-4 Transformation Pane - too few Markers55
Setting a Tool as Reference56
Figure 4-5 Markers Information Pane - Exceeded Max Marker Angle56
Figure 4-6 Selecting a Reference Tool56
Determining the Tool Tip Offset57
Figure 4-7 Selecting a Tool to Pivot58
Figure 4-8 Pivoting Technique59
Figure 4-9 Pivot Result Dialog59
Error Flags and Codes60
Missing and Disabled Transformations60
Tracking Errors and Flags61
Polaris Vicra System Leds and Audio Codes63
Maintenance64
Position Sensor64
Cables and Connectors65
Figure 6-1 How to Avoid Stressed Cables65
Setting the Infrared Light Sensitivity66
IR Light Sensitivity Levels66
Changing the Sensitivity Level67
Figure 7-1 Infrared Light Sensitivity Levels67
Calibration and Firmware69
Checking the Calibration of the Polaris Vicra System69
Updating the Firmware70
Approvals71
Optical Radiation Safety71
Table 9-1 Electrical Safety71
Table 9-2 Electromagnetic Compatibility71
Classifications72
Table 10-1 Classifications72
Technical Specifications73
Position Sensor73
Table 11-1 Position Sensor - Technical Specifications73
Table 11-2 Position Sensor - Operating Environmental Conditions73
Host USB Converter74
Table 11-3 Position Sensor - Transportation and Storage Environmental Conditions74
Table 11-4 Host USB Converter - Technical Specifications74
Table 11-5 Host USB Converter - Operating Environmental Conditions74
Table 11-6 Host USB Converter - Transportation and Storage Environmental Conditions74
Power Adapter75
Table 11-7 Power Adapter - Technical Specifications75
Table 11-8 Power Adapter - Operating Environmental Conditions75
Table 11-9 Power Adapter - Transportation and Storage Environmental Conditions75
Electromagnetic Compatibility76
Electrostatic Discharge76
Cables and Accessories76
Table 12-1 Cables and Accessories that Maintain Compliance76
Guidance and Manufacturer's Declaration - Electromagnetic Emissions77
Guidance and Manufacturer's Declaration - Electromagnetic Immunity77
Table 12-2 Manufacturer's Declaration for Electromagnetic Emissions77
Table 12-3 Electromagnetic Immunity77
Table 12-4 Electromagnetic Immunity - Not Life Supporting79
Recommended Separation Distances80
RF Emissions80
Table 12-5 Recommended Separation Distances80
Troubleshooting82
Introduction82
System Indications82
Table 13-1 System Visual and Audio Indications82
NDI Toolbox Error Messages84
Figure 13-1 Host USB Converter - Error LED Fault Chart84
Table 13-2 NDI Toolbox Error Messages85
Common Problems86
Return Procedure and Warranty89
Return Procedure89
Warranty89
Abbreviations and Acronyms91
Equipment Symbols92
Glossary93
Declaration of Conformity96
Figure 18-1 EC Declaration of Conformity96
Appendix A Polaris Vicra Calibration Performance and Methodology97
Polaris Vicra Performance97
Calibration Method97

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Northern Digital Polaris Vicra Specifications

General

Category	Medical Equipment
Accuracy	0.25 mm RMS
Tracking Technology	Optical
Update Rate	60 Hz
Manufacturer	Northern Digital Inc.
Markers	Active and Passive
Applications	Surgical navigation, research
Interface	USB
Data Output	6D position and orientation data

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