Atracsys fusionTrack 500 User manual
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 Devicespecications ....................................... 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 Authorisedmodications ..................................... 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 Markergeometryles....................................... 41
7.8 Markertrackingparameters ................................... 42
7.9 Phantomducials......................................... 43
7.10Strayducials ........................................... 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 verication tool (AVT) 78
13.1Generalconcept ......................................... 78
13.2Runningtheprocedure...................................... 78
13.3 The accuracy verication 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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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 Verication Tool
The Accuracy Verication 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 reective material, sticker with reective material, reective
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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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,
modied, 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 reect 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 prots, 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 certications/ stan-
dards.
Although most Atracsys devices are following medical standards, they cannot be - by their own -
certied 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 classied 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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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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IP20
The fusionTrack device degree of protection against dust
and uids (IEC standard 60529).
First digit: Solid particle protection
Level 2: Protected from touch by ngers and objects greater
than 12 mm.
Second digit: Liquid ingress protection
Level 0, Not protected from liquids.
A parcel containing a fusionTrack device must be handled
with care.
A parcel containing a fusionTrack device must be trans-
ported and stored between the indicated temperatures. See
Section 5.3.
The fusionTrack device must not be disposed of in the trash,
see Section 17.4.
The extension port must not be used (See Figure 3.3).
LASER RADIATION
Do not stare into beam. Class 2 Laser Product
λ= 400 –700nm Po≤1 mW
1.4 Device label
This section details the information printed on the label of the device. An example is provided on Fig-
ure 1.1. The label gives the serial number of the device, its version and the date of manufacture (format
mm.yyyy). The serial number is encoded in the data matrix barcode using ASCII character encoding, e.g.
‘0x0000000000000000’.
1.5 Disclaimers
The entire user manual must be read before operating the fusionTrack system.
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fusionTrack 500
Model: fTk500
Version: ▯▯▯.▯▯.▯▯.▯▯
Date of manufacture: mm.yyyy
PoE+ (IEEE 802.3at type2)
48V 0.60A
REF
SN 0x▯▯▯▯▯▯▯▯▯▯▯▯▯▯▯▯
Atracsys - Switzerland
www.atracsys.com
SWISS MADE
Figure 1.1: Blank example of a fTk 500 label.
1.6 Contact information
For any question regarding the content of this guide or the operation of this product, please contact us:
Atracsys LLC
Route du Verney 20
1070 Puidoux
Switzerland
www.atracsys-measurement.com
Tel +41 (0)21 533 09 00
1.7 Updates
The latest version of this document can be downloaded from Atracsys website. The address, as well as
the required username and password are provided by Atracsys, please refer to the ‘Information for user’
document.
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2Introduction
The fusionTrack systems are passive and active, real-time optical pose-tracking systems specially designed
to detect and track reective spheres, disks and IR-LEDs in real-time video streams. The fusionTrack
device is composed of two cameras that observe reective and/or active ducials ((IR LEDs) simultaneously,
and it uses triangulation to calculate their locations with unrivalled precision and with an unparalleled non-
interpolated measurement rate of 335 Hz.When several ducials are afxed to a marker, the system can
determine its pose (position and orientation) with 6 degrees of freedom (x, y, z, α, β, γ).
The fusionTrack SDK enables access to data at different stages of processing, including raw images,
individual 3D positions of ducials (reective spheres and disks / IR-LEDs) and on up to the pose of markers.
The SDK also provides multi-level fault checking. It allows access to error information in real time at any
processing stage: ducial occlusion level, stereo de-calibration, marker registration error and more.
The fusionTrack can be customized to t your requirements (e.g. precision level, acquisition speed,
working volume, extensions). Moreover, the system is compatible with existing passive image-guided sur-
gical (IGS) tools that are widely used in the medical eld. With its unparalleled measurement speed, accuracy
and latency, the fusionTrack 500 is ideally suited for robotic applications.
The fusionTrack system is one of the components of an IGS tool. The nal (i.e. surgical) application will
depend on the requirements of the integrator.
The fusionTrack measures distances and angles between markers xed on the patient, as well as mark-
ers xed on the surgical tools. Data generated by the fusionTrack are typically used by the IGS system
to display information such as distances, angles, trajectories, position of surgical tools within preoperative
images, etc. The entire IGS system (including the fusionTrack) helps surgeons to take decisions during the
procedure.
The fusionTrack is not intended to make surgical decisions by itself or to replace surgical actions.
This document presents how to install and use the fusionTrack system. It is, as well as the current
fusionTrack software, continuously improved and may differ from one version to another.
For any problem, question or suggestion do not hesitate to contact Atracsys either by email or by phone
(see Section 1.6).
2.1 Device expected service life
The expected service life of the fusionTrack is eight years based on ve hours of use per working day.
The fusionTrack device must be powered off when not in use
(e.g. using a switch before the PoE+PSE). The powered-
on time, be the fusionTrack device used or not, is cut away
from the service life.
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2.2 Device shelf life
The shelf life of the fusionTrack is four years based on ve hours of use per working day. However, the
shock sensor battery should be recharged every 6 months, see Chapter 4 for more details.
2.3 Device specications
The specications of the fusionTrack devices (model fTk500) are presented in Table 2.1.
Figure 2.1: Accuracy Measurement volume, xz projection.
Figure 2.2: Accuracy Measurement volume, yz projection.
The volume presented on Figure 2.1 and Figure 2.2 is the validated volume, i.e. the volume in which the
trueness of the fusionTrack device is checked. This volume is obtained from the smoothed union of all AVT
boxes, as such, it is larger than the actual seen volume at low z. This is due to the fact the AVT boxes must
be large enough to contain the AVT artefact with some additional tolerances, to accomodate for small eld
of view discrepancies.
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Device fusionTrack 500
Model fTk500
Dimensions (L ×W×H) 520 mm ×80 mm ×95 mm
Weight 2.16 kg
Typical ducial localisation error at
calibration timed
Up to 2.0 m 0.08 mm RMS / 0.17 mm 95% CIa
Up to 2.4 m 0.11 mm RMS / 0.22 mm 95% CIa
Up to 2.8 m 0.15 mm RMS / 0.30 mm 95% CIa
Accuracy Accuracy Verication Tool (AVT) distance RMS
error < 0.3 mm
Accuracy Measurement volume Convex polyhedron with xz and yz projections
shown in Figure 2.1 and Figure 2.2.
Working volume Starts at 700 mm
Infrared illumination ∼850 nm
Measurement rate 335 Hzb, native measurement rate (no upscaling)
Image exposition time Active 0 µs to 16 383 µs Passive 0 µs to 250 µs
Latency ∼4 ms
Interface to PC Gigabit Ethernet 1000BASE-T (IEEE 802.3ab)c
Max. simultaneous markers 16 markers
Max. ducials per marker 6 spheres / discs / IR-LEDs per marker
Software Development Kit (SDK) C/C++ (shared library)
Operating systems Windows, Linux (see Section 3.1)
Power requirements Power over Ethernet (PoE+ IEEE 802.3at-2009)
48 V 0.6 A
Pollution degree 2
Overvoltage category I
Acoustic energy <80 dB
Laser Class 2
Standards - Basic safety and essential performance:
IEC 60601-1:2005+A1:2012, Ed 3.1
- Electromagnetic disturbances:
IEC 60601-1-2:2014, Ed 4.0
- Photobiological safety of lamps:
IEC 62471:2006, Ed 1.0
- Safety of laser products:
IEC 60825-1:2014, Ed 3.0
- Medical device software:
IEC 62304:2006+A1:2015, Ed 1.1
- Upon request, a CB-Report can be provided.
aCondence interval.
bDepending on user’s computer, network connection and numbers of blobs detected in
the pictures.
cAlthough the fusionTrack works with a 100Base-T network connection, the performance
(framerate, delay) might be reduced.
dBased on a single ducial stepped uniformly throughout the measurement volume at 20 °C.
Table 2.1: fusionTrack specications
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3Description of the fusionTrack system
The fusionTrack family of Optical Tracking Systems is a exible, real-time tracking technology based on a
stereo camera approach. The fusionTrack is based on measuring the 3D position of ducials to provide
real-time orientation and position of each marker.
For shock and temperature stability, the cameras inside the fusionTrack housing are oating (see Figure 3.1)
and therefore the fusionTrack is not designed to measure absolute positions (positions and rotations in
respect to the fusionTrack housing / the xation base). The fusionTrack is designed to provide accurate
relative measurements. ’Relative measurements’ means that position and rotation from one respectively
several markers to each other are computed.
Figure 3.1: Sketch of the fusionTrack device. The cameras (in blue) are mounted on a rigid rod (in green).
This rod is xed to the ‘shell’ (grey) by rubber elements (red).
3.1 Hardware requirements
The minimum host PC requirement to use the fusionTrack system are:
- Intel(R) Core(TM) i3-6100U CPU @ 2.30GHz
- 4 GB DDR3 RAM:
- 50 MB (Windows) or 30 MB (Unix/Linux) disc space;
- Window 8.1 (64 bits supported);
- Linux (64 bits supported), gcc 5.4 or clang 3.8.
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3.2 The fusionTrack device
Here below is a simple description of its operation:
1. The fusionTrack illuminators emit infrared (IR) light, like the ash of a regular camera;
2. The IR light reects on passive markers or triggers active markers which then emit IR light;
3. The fusionTrack detects the reected (or emitted) IR light and transmits the information to the host
computer along with status information;
4. The host computer extracts the position of each detected spot, computes the 3D position of each
detected sources, then tries to match them to known marker geometries;
5. The information is forwarded to the user, with status information on each piece of data, allowing the
user to do additional processing (display, ltering, collection, etc.).
The fusionTrack device can track two types of markers: passive and active ones. More detailed explanations
about those two marker types are given in Section 7.6.
The fusionTrack device must be powered off when not in use
(e.g. using a switch before the PoE+PSE). The powered-
on time, be the fusionTrack device used or not, is cut away
from the service life.
On Figure 3.2 is presented the front view of the fusionTrack. It should be noted that ‘Left’ and ‘Right’ always
refer to the vision from the fusionTrack.
13 5 2
4
6
530
10
80
7
Figure 3.2: The fusionTrack front view, showing: (1) Right camera; (2) Left IR-LEDs ring; (3) User Status
LED, refer to Section 3.2.3 for more information; (4) IR receiver; (5) Device Status LED, refer to Section 3.2.3
for more information; (6) Right pointing laser; (7) Left pointing laser.
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810 12
7911
Figure 3.3: The fusionTrack backplane, showing: (7) RJ-45 connector, provides the power and the trans-
mission of data between the fusionTrack and a computer; (8) Power switch, switching on and off the devicea;
(9) Surface allowed for 4×M4 screws or tripod mount; (10) Extension port connection; (11) Ethernet RX
LED (see Section 3.2.3); (12) Ethernet TX LED (see Section 3.2.3).
aThe switch might be absent, depending on the fusionTrack device version.
The back plane of the fusionTrack is presented on Figure 3.3. The Ethernet interface provides both
communication and power. On older fusionTrack device versions, the device is switched on / off using the
power switch (8). The extension port (10) is not intended for user connections. Finally the two LEDs indicate
the status and the speed of the Ethernet communication (see Section 3.2.3).
The extension port (10) is not intended for user connections.
Do not connect anything on this plug.
3.2.1 Power input
The used power supply must be a limited power source. Any
used power supply must not be able to deliver more than
100 W.
The integrator has to implement a mean to isolate the fusion-
Track electrically from the supply mains.
The fusionTrack is a Power over Ethernet powered device (PD) respecting IEEE 802.3at Type 2 for power
consumption up to 25.50 W. The certication of the fusionTrack has been conducted excluding the Power
over Ethernet power supply.
There are two ways of supplying power to the fusionTrack:
1. Using a IEEE 802.3at Type 2 compatible Power Source Equipment (PSE) for Gigabit Ethernet (1000Base-
T) Networks. Gigabit network switches respecting IEEE 802.3at Type 2 are also available. The usage
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of network equipment specied for lower speeds than Gigabit is not recommended. Although the
fusionTrack works with a 100Base-T network connection, the performance (framerate, delay) might
be reduced. The specications of Power Source Equipment (PSE)PoE compliant is given in Table 3.1.
The list of PoE+ power supplies successfully tested by Atracsys is found in Table 3.2. The list of PoE+
power supplies with detected interoperability issues are listed in Table 3.3.
2. Using a passive Gigabit Midspan Injector and an appropriate DC power supply. As an example of
such a passive Gigabit Midspan Injector the Power Over Ethernet Injector CAT6, L-com - BT-CAT6-
P1-HP can be cited. Atracsys has also two versions (with horizontal and vertical RJ45 sockets) of
a passive Gigabit Midspan Injectors under development. For more info, please contact Atracsys
sales departement (See Section 1.6). The list of Gigabit Midspan injectors supplies with detected
interoperability issues are listed in Table 3.3. Using an improper passive injector may damage the
device.
Section 3.2.2 also provides valuable information regarding providing power to the fusionTrack device.
Property 802.3at Type 2
Also known as PoE+, PoE plus
Power available at PD 25.50 W
Max power delivered by PSE 30.0 W
Voltage range (at PSE) 50.0 V to 57.0 Va
Voltage range (at PD) 42.5 V to 57.0 Vb
Max current 600 mAcper mode
Max cable resistance 12.5Ω(Cat 5e or better)
Power management Four power class levels nego-
tiated at initial connection or
0.1 W steps negotiated contin-
uously
Derating of max cable ambient
operating temperature
5 °C with one mode (two pairs)
active
Supported cables Cat 5e or better
Supported modes Mode A (endspan), Mode B
(midspan)
aSource: IEEE 802.3at-2009 Table 33-11.
bSource: IEEE 802.3at-2009 Table 33-18.
cSource: IEEE 802.3at-2009 Table 33-1.
Table 3.1: PoE+ parameters specications.
Model Remark
PHIHONG POE36U-1AT-R Cannot be used with a shielded Ethernet cable on the PD side.
PHIHONG POE30U-560(G) Cannot be used with two shielded Ethernet cables.
PHIHONG POE31U-1AT –
PHIHONG POE29U-1AT –
PowerDsine 9001GR –
Table 3.2: Tested PoE+ devices.
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Type Model
Midspan injector Enable-IT 360 PoE
Table 3.3: PoE+ devices and midspan injectors with a known interoperability issue.
3.2.2 Cables
Atracsys does not supply cables with the fusionTrack system, as standard Cat 5e Ethernet cables can be
used. The usage of shielded and unshielded cables are possible. In case a PoE+ power supply is used,
two Ethernet cables are needed (one from the host PC to the PoE+ power supply and one from the PoE+
power supply to the fusionTrack device). The PoE+ power supply needs a main power cable.
Power over Ethernet is a quite complex standard that includes an initialisation phase where the PD
(here fusionTrack device) negociates with the PSE (here the PoE+ power supply respectively the PoE+
router) the amount of power needed. Depending on the PSE, the cables used (shielded or un-shielded) and
even potential ground loops between the PSE and the computer, this negociation phase might fail i.e. the
fusionTrack device will not receive power.
This potential problem can be avoided when the following recommendations are respected:
- Using a passive Gigabit Midspan Injector and an appropriate DC power supply (see Section 3.2.1). In
this case, no negociation phase takes place and it is always guaranteed that the fusionTrack receives
power. Both shielded and unshielded cables work perfectly;
- Using a PoE+PSE. In this case, the usage of unshielded cables (before and after the PSE) presents
less problems. Ground loops between the PSE and the PC have to be avoided i.e. the main power
connections of the PSE and the PC have to be connected together in the same wall plug respectively
in the same multiple socket outlet.
3.2.3 Status LEDs
The status LEDs colour and behaviour is used to indicate the status of the fusionTrack device. When the
fusionTrack device is switched on, the boot sequence starts with tests, during which the LEDs are switched
on and off, with various colours. This lasts for about 20 s to 30 s, then the LED is used to indicate the status
of the device. The various states are explained on Table 3.4.
3.3 The fusionTrack software development kit
The fusionTrack software development kit (SDK) is used to retrieve the measurements from the fusionTrack
on the PC and to modify settings on the fusionTrack. It is completely documented in an annex document [1].
3.4 Authorised modications
Strictly no modications are allowed on the fusionTrack nor on the fusionTrack SDK. The fusionTrack device
shall not be opened. If repairs or modications are needed, please either contact or send the device back
to Atracsys (Section 1.6).
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