Atracsys fusionTrack 500 User manual

Atracsys LLC
Route du Verney 20
1070 Puidoux
Switzerland
www.atracsys-measurement.com
[email protected]
Tel [phone]
fusionTrack 500
User manual
File name fTk500_InstructionsHowToUse.pdf
Document type Manual
Version v4.5.2
Revision 8403a38
Pages 113
Date 17th June 2020

Contents
Glossary 5
Disclaimer of Warranties and Limitations of Liability 7
1 Important information 8
1.1 Warnings ............................................. 8
1.2 Caution .............................................. 9
1.3 Safetysignsandsymbols..................................... 9
1.4 Devicelabel ............................................ 10
1.5 Disclaimers ............................................ 10
1.6 Contactinformation........................................ 11
1.7 Updates.............................................. 11
2 Introduction 12
2.1 Deviceexpectedservicelife ................................... 12
2.2 Deviceshelflife .......................................... 13
2.3 Devicespecications ....................................... 13
3 Description of the fusionTrack system 15
3.1 Hardwarerequirements...................................... 15
3.2 ThefusionTrackdevice...................................... 16
3.2.1 Powerinput........................................ 17
3.2.2 Cables........................................... 19
3.2.3 StatusLEDs........................................ 19
3.3 The fusionTrack software development kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4 Authorisedmodications ..................................... 19
4 Shock sensor 21
4.1 Registers ............................................. 21
4.1.1 Statusregister....................................... 21
4.1.2 Errorregister ....................................... 22
5 Hardware installation 23
5.1 Operating environment requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
5.2 Least favorable working conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.3 Transportation and storage environmental conditions . . . . . . . . . . . . . . . . . . . . . 24
5.4 Mounting the fusionTrack device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.5 Network connection of the fusionTrack device . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.6 Connecting and powering the fusionTrack . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.6.1 ThefusionTrack...................................... 27
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5.6.2 fusionTrack in a ME system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
5.6.3 Annex: Explanation of applied part . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6 Software installation 30
6.1 Windowsinstallation ....................................... 30
6.2 Linuxinstallation.......................................... 30
7 How the fusionTrack device works 31
7.1 Communicating with the fusionTrack device . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7.2 The fusionTrack device coordinates system and working volume . . . . . . . . . . . . . . . 31
7.3 Information provided by the fusionTrack device . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.3.1 ThefusionTrackevents.................................. 35
7.4 Fiducial detection and marker tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.5 Temperaturecompensation ................................... 36
7.6 The fusionTrack device markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.6.1 Passivemarkers ..................................... 38
7.6.2 Activemarkers ...................................... 39
7.7 Markergeometryles....................................... 41
7.8 Markertrackingparameters ................................... 42
7.9 Phantomducials......................................... 43
7.10Strayducials ........................................... 44
8 Using the fusionTrack system 45
8.1 The fusionTrack system options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
8.1.1 Libraryrelatedoptions .................................. 46
8.1.2 Devicerelatedoptions .................................. 46
8.1.3 Detection stage related options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
8.1.4 Wireless related options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.1.5 Authentication related options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
8.1.6 Environmentandoptions................................. 52
8.2 User interface software ‘demo.exe’ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
8.2.1 Recalibration of a marker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8.2.2 Exportingthedata .................................... 57
8.2.3 Dumpingthedata..................................... 58
8.3 Command line software samples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
8.4 Latencymeasuring ........................................ 62
8.4.1 Runningthesoftware................................... 62
8.5 Compilation of provided samples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
8.5.1 Windowscompilation................................... 64
8.5.2 Unicescompilation .................................... 64
9 Language bindings 65
9.1 Pythonwrapper.......................................... 65
9.2 Matlabwrapper.......................................... 65
10 Command line utility tool 67
10.1 Establishing a connection with atnet .............................. 67
10.2 Updating the rmware of the fusionTrack . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
10.3 Updating the rmware of the fusionTrack shock detection unit . . . . . . . . . . . . . . . . . 68
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10.4 Updating the rmware of the wireless markers using the fusionTrack . . . . . . . . . . . . . 69
10.5Obtainingashockreport..................................... 70
11 Control the operability of the fusionTrack system and instruments 71
11.1 Control fusionTrack operability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
11.2 Control marker registration and epipolar errors . . . . . . . . . . . . . . . . . . . . . . . . . 72
11.3 Control fusionTrack temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
11.4 Control optical elements and IR illumination . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
11.5 Control environmental conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
11.6Integratorsoftware ........................................ 74
12 The zeroing method 76
12.1Generalconcept ......................................... 76
12.2Runningtheprocedure...................................... 77
13 The accuracy verication tool (AVT) 78
13.1Generalconcept ......................................... 78
13.2Runningtheprocedure...................................... 78
13.3 The accuracy verication tool from Atracsys . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
14 Electromagnetic compatibility 79
14.1Essentialperformances...................................... 81
14.1.1 Quality of the measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
14.1.2Measurementrate .................................... 82
14.2Cables............................................... 83
15 Communication parameters 84
15.1ChangingtheIP.......................................... 84
15.2ChangingthelocalUDPport................................... 85
15.3 Connection to multiple fusionTrack devices . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
16 The fusionTrack device authentication 87
16.1Implementation .......................................... 87
16.2 Setting the key in the fusionTrack device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
16.3 Checking the fusionTrack device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
17 Maintenance 91
17.1 Cleaning the fusionTrack device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
17.2Sterilisationofthemarkers .................................... 91
17.3 Effects of multiple cleanings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
17.4Disposalofequipment ...................................... 92
18 Troubleshooting 93
18.1Commonproblems........................................ 93
18.1.1 Wrong or damaged cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
18.1.2PoE+problems...................................... 93
18.1.3 FTK_WAR_SHOCK_DETECTED warning . . . . . . . . . . . . . . . . . . . . . . . . 93
18.1.4 FTK_WAR_SHOCK_SENSOR_OFFLINE warning . . . . . . . . . . . . . . . . . . . . 94
18.1.5 FTK_WAR_SHOCK_SENSOR_AUTO_ENABLE warning . . . . . . . . . . . . . . . . 94
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User manual
Version: v4.5.2
19 Licences 95
19.1 Atracsys fusionTrack SDK headers and library . . . . . . . . . . . . . . . . . . . . . . . . . 95
19.2Hashingcode........................................... 95
19.3AboutJsonCpp.......................................... 95
19.4AboutQt.............................................. 96
19.5AboutFreeGLUT ......................................... 97
19.6AboutCoin3D........................................... 97
19.7Base64 .............................................. 97
19.8AboutFLTK ............................................ 98
A Mathematical considerations 99
A.1 Homogeneouscoordinates.................................... 99
A.2 Markerpose............................................ 99
A.3 Invertingamarkerpose......................................100
B Warning summary 101
References 113
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Glossary
Accuracy Verication Tool
The Accuracy Verication Tool (AVT) is a product designed by Atracsys. It allows the user to check
the trueness of an optical tracking device. It consists of an artefact, an acquisition software, as well
as a processing software running on Atracsys servers, in case a detailed report is asked for..
aCn
The fusionTrack 500 is able to externally provide different signals via its EIO port. These signais can
be the exposure of the tracker; the strobe of the IR LEDs; a user trigger or the device timestamp .
A UART communication allows to confgure which signals are confgured on the EIO lines. To easily
access these signals, the atracConnect (aCn) board can be used. The full documentation of the aCn
is available in the doc/ folder of the SDK.
API
Application Programming interface. It is a set of routines, protocols, and tools for building software
applications.
Fiducial
Simplest element (sphere covered with reective material, sticker with reective material, reective
glass sphere, IR-LED) detected by the optical tracking system, and reconstructed as a three-dimensional
point (e.g. (x, y, z)coordinates).
GUI
Graphical User Interface, this is a type of interface that allows users to interact with electronic devices
through graphical icons and visual indicators such as secondary notation, as opposed to text-based
interfaces, typed command labels or text navigation.
IGS
Image-Guided Surgery. This is the general term used for any surgical procedure where the surgeon
employs tracked surgical instruments in conjunction with preoperative or intraoperative images in
order to guide the procedure.
JSON
In computing, JavaScript Object Notation or JSON is an open-standard le format that uses human-
readable text to transmit data objects consisting of attribute–value pairs and array data types (or any
other serializable value).
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User manual
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Marker
Often also called rigid body. Mechanical structure with known geometry on which several ducials
are rmly attached. As soon as the tracking system detects and reconstructs at least three ducials,
the six degrees of freedom are computed by the system.
Navigation system
A navigation system is composed of at least a tracking system and a computer on which an IGS
software is running.
PD
Powered Device, when talking about a device powered by a PoE. The fusionTrack is a PD.
PoE
Power Over Ethernet, providing both an Ethernet connection and power supply using only one Eth-
ernet cable.
PSE
Power Source Equipment, when talking about a device powered by a PoE. The PSE provides power
to the PD.
Raw data
Image of a ducial on a camera.
SDK
Software Development Kit, which is typically a set of software development tools that allows the
creation of applications for a certain software package, software framework, hardware platform.
Working volume
Portion of space in which the markers can move whilst being detected by the tracking system.
Troughout this document, references to glossary entries will appear in slanted font.
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Disclaimer of Warranties and Limitations of Lia-
bility
© Copyright 2004-2020, Atracsys
All rights reserved. No part of this document may be reproduced, transcribed, transmitted, distributed,
modied, merged, translated into any language or used in any form by any means - graphic, electronic, or
mechanical, including but not limited to photocopying, recording, taping or information storage and retrieval
systems - without the prior written consent of Atracsys. Certain copying of the software included herein is
unlawful.
Atracsys has taken due care in preparing this document and the programs and data on the electronic
media accompanying this document including research, development and testing. This document de-
scribes the state of Atracsys’s knowledge respecting the subject matter herein at the time of its publication
and may not reect its state of knowledge at all times in the future. Atracsys has carefully reviewed this
document for technical accuracy. If errors are suspected, the user should consult with Atracsys prior to
proceeding. Atracsys 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.
Atracsys 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
adequacy to produce a particular result. The user’s right to recover damages caused by fault or negligence
on the part of Atracsys shall be limited to the amount paid by the user to Atracsys for provision of this doc-
ument. In no event shall Atracsys be liable for special, collateral, incidental, direct, indirect or consequential
damages, losses, costs, charges, claims, demands or claim for lost prots, data, fees or expenses of any
nature or kind.
Important notice:
The listed items in this user manual might follow different medical or non medical certications/ stan-
dards.
Although most Atracsys devices are following medical standards, they cannot be - by their own -
certied as medical devices.
For medical applications, appropriate approvals must be obtained by the integrator. Atracsys LLC
disclaims all liability.
7

1Important information
This documentation provides detailed information about the fusionTrack system.
Information from this chapter should be read before continuing with the rest of the document. This
document contains user information for the physical and software installation of the fusionTrack system.
1.1 Warnings
In the whole documentation, warnings are indicated with this
symbol and graphics. The information from the accompany-
ing paragraph must be followed to avoid patient or operator
injury.
Please read carefully this user manual before operating the
device.
Follow all the installation procedures step by step.
The integrator has to check that the device / position of the
device is well suited for the application / surgery and that
required regulations are respected.
Optical hazards according IEC-62471-1: Exempt group
The fusionTrack device uses powerful infrared LEDs for illu-
mination and communication. This infrared light at approx-
imately 850 nm is not visible by human eyes. According to
the standard IEC-62471-1 (hazard values are reported at a
xed distance d = 200 mm) the fusionTrack is classied in the
‘Exempt group’. To further reduce exposure, never watch
closely and longly into the infrared LEDs around the cameras
when the device is switched on. To further reduce exposure
of the skin, never place any body part closer than 200 mm
to the infrared LEDs.
Do not immerse the fusionTrack device in water or other u-
ids.
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User manual
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Do not spill water or other uids on the fusionTrack device.
The fusionTrack device is composed of metallic parts and
electronic components and, even if complying with medical
norms, it may interfere or be affected when used in special
environments like Magnetic Resonance Imaging or devices
generating X-Rays. If you intend to operate the fusionTrack
in such environments, please contact Atracsys.
The fusionTrack device is a precision instrument and has to
be handled with greatest care. If it receives a shock, falls on
any surface or is transported without adequate packaging,
it can easily be damaged or decalibrated.
Since the fusionTrack will be integrated in a medical system,
integrator has to conduct the tests related to the electrical
security and electromagnetic compatibility for the whole sys-
tem.
1.2 Caution
In the whole documentation, cautions are indicated with this
symbol and graphics. The information from the accompa-
nying paragraph must be followed to avoid damaging the
equipment.
1.3 Safety signs and symbols
Various symbols are used in this manual, the user’s manual and on the product itself to ensure correct
usage, to prevent danger to the user and others, and to prevent property damage. The meanings of these
symbols are described below. It is important that these descriptions are read thoroughly and the contents
is fully understood.
The entire user manual must be read before operating the
fusionTrack system.
The fusionTrack device is a Class II equipment. A Class II or
double insulated electrical appliance is one which has been
designed in such a way that it does not require a safety con-
nection to electrical earth (ground).
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