NDI Krios User manual

Krios User Guide
Revision 03
April, 2020

Copyright 2016-2020 Northern Digital Inc. All Rights Reserved.
Manufacture, use and/or sale covered by one or more US and other
registered patents. Our patented technological innovations can be
found at: www.ndigital.com/about/patents
Part number: IL-1070261

Krios User Guide - Revision 03
Revision Status
Revision
Number Date Description
1 June, 2016 First Release
2 September, 2016 Updated UI and added
continuous probing function
3 April, 2020 Removed Declaration of
Conformity, updated
screenshots to reflect new
layout and default background
colour, updated part number for
the USB converter

Krios User Guide - Revision 03
Published by:
Northern Digital Inc.
103 Randall Dr.
Waterloo, Ontario, Canada N2V 1C5
Telephone: [phone]
Toll Free: [phone]
Global: ++ (800) 634 634 00
Facsimile: [phone]
Website: www.ndigital.com
Copyright 2016-2020, Northern Digital Inc.
All rights reserved. No part of this document may be reproduced, transcribed, transmitted, dis-
tributed, modified, 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 Northern Dig-
ital 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 electronic 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 consult with Northern Digital Inc. prior to pro-
ceeding. 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 docu-
ment.
Northern Digital Inc. makes no representation, condition or warranty to the user or any other
party with respect to the adequacy of this document 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 Northern Digital Inc. shall be limited to the amount paid by the
user to Northern Digital Inc. for the provision of this document. In no event shall Northern Digi-
tal 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.

Table of Contents
Krios User Guide - Revision 2B i
Table of Contents
Read Me First . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iv
Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . v
Contact Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Updates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
1 System Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 System Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Mounting Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 System Setup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Connection Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 Hardware Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Scanning Environment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Scanning Best Practices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.4 Krios User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5 Attach the Markers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.6 Scan the Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.7 Probing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.8 Transform the Coordinate System . . . . . . . . . . . . . . . . . . . . . . . . 22
3.9 Labelling the Point Cloud . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.10 Export Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.11 Image Capture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4 Preferences . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28

Table of Contents
ii Krios User Guide - Revision 2B
5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
5.1 Disposal of Equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
6.1 Operating Environmental Conditions. . . . . . . . . . . . . . . . . . . . . .30
6.2 Transportation and Storage Environmental Conditions . . . . . . . .31
6.3 Technical Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7 Approvals and Classifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
7.1 Approvals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
7.2 Classifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8 Electromagnetic Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
8.1 Cables and Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.2 Guidance and Manufacturer’s Declaration: Electromagnetic Emis-
sions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.3 Guidance and Manufacturer’s Declaration: Electromagnetic Immunity
35
8.4 Recommended Separation Distances . . . . . . . . . . . . . . . . . . . . . . 38
8.5 Radio Frequency Emissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39

Table of Contents
Krios User Guide - Revision 2B iii

iv Krios User Guide - Revision 03
Read Me First
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. The power adapter must be located outside the patient environment
under all operating conditions. It is the responsibility of the system
integrator and/or the end-user to ensure that the system is
appropriately configured for the operating conditions.
2. 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.
3. Do not use a power bar or extension cable to connect the power
adapter to the mains supply. Doing so may result in an electric shock
hazard and possible personal injury.
4. Make sure the power adapter is connected to a mains supply with
protective earth. Failure to do so may result in an electric shock
hazard and possible personal injury.
5. Do not touch the subject and metal parts of the system at the same
time. Doing so may result in an electric shock hazard and possible
personal injury.
6. There are no user serviceable parts in the Krios System. All servicing
must be done by NDI. Unauthorised servicing may result in personal
injury.
7. Do not immerse the Krios System in liquids, or allow fluid to enter
the equipment in any way. Exposing the Krios System to liquids may
result in equipment damage, produce a fire or shock hazard, and
result in personal injury.
Warning!

Krios User Guide - Revision 03 v
8. Switch off power to the Krios System before cleaning it. Failure to
do so may result in personal injury.
9. The laptop power adapter that is certified with this device is Lenovo
42T4430. If a different laptop/computer is used, the power adapter
must be IEC 60601-1 certified, or leakage testing must be completed
by the end user for the alternate power adapter. Using an unapproved
power adapter may result in an electric shock hazard and possible
personal injury.
10. Use of cables or accessories other than those delivered with the
system may result in increased emissions and/or decreased immunity
of the Krios System and may result in personal injury.
11. The Krios System requires special precautions regarding EMC. It
must be installed and put into service in accordance with the EMC
information, detailed in this chapter. Failure to do so may result in
personal injury.
12. Radio frequency communications equipment, including portable and
mobile devices, may affect the Krios System and result in personal
injury.
13. Do not use the Krios System either adjacent to, or stacked with, other
equipment. Check that the Krios 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.
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. Do not use aerosol sprays near the equipment as these sprays can
damage circuitry.
2. Do not use any solvent to clean the Krios System. Solvents may
damage the finish and remove lettering.

vi Krios User Guide - Revision 03
Contact Information
If you have any questions regarding the content of this guide or the
operation of this product, please contact us:
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 updated
information:
https://support.ndigital.com

Krios User Guide - Revision 03 1
1 System Overview
This guide provides details on the installation and use of the NDI
Polaris®Krios System.
The intended use of the Krios Scanner is as a hand held digitizing camera
for rigid body tracking and coordinate transformations within a reference
frame. The Krios System does not require any specialised training or
knowledge to be operated.
There are no contra-indications for using the Krios System.
Each electrode is mapped in imaging software, saving significant setup
time. This automated registration process also improves the accuracy of
source-localization. The system can also capture and store digital pictures
of the procedure or experiment, to form part of a record within the
application software.
1.1 System Components
The Krios System consists of the following parts:
Krios Scanner
Part Number 8701087
Mounting Bracket Part Num-
ber 8701325
Host USB Converter (HUC)
Part Number 8800810.005

2 Krios User Guide - Revision 03
Note:Do not attach any parts to the system that are not listed in the table
above. Do not modify any system components.
Krios Scanner
The Krios Scanner is the main unit of the NDI Krios System, see Figure
1-1. The Scanner houses the sensors and controls. It is connected to the
host computer via the Host USB Converter through a keyed connector on
bottom of the Scanner
Figure 1-1 Krios Scanner
Probe
Part Number 8701326
Power Adapter and cable 2 m
Part Number 8001260
USB cable Part Number
2600596
NDI Krios software (on USB
stick) Part Number 8801325
Retro-reflective Markers Part
Number 2301186
Scan
Trigger
Sensor
Sensor
Probe
Button
LED Indicator
Bar
Image Capture
Button

Krios User Guide - Revision 03 3
The Scanner serial number label shows the item ID, model, serial number
and manufacture date of the Scanner. The label also incorporates the
“Consult Operating Instructions” graphic. An example of the Scanner
serial number label is shown in Figure 1-2.
Figure 1-2 Krios Scanner Serial Number Label
1.2 Mounting Bracket
The mounting bracket allows you to securely attach the scanner to a
standard 1/4”-20 tripod mount. This is useful during probing mode.
The mounting bracket fits around the scanner handle and is secured with
a clamp (Figure 1-3).
Figure 1-3 Mounting Bracket
Securing
Clamp

4 Krios User Guide - Revision 03
Host USB Converter
The Host USB Converter provides the interface between the Scanner, the
power adapter, and the host computer:
• The attached Scanner cable connects the Host USB Converter to
the Scanner.
• The power adapter and USB cable plugs into the Host USB
Converter.
The Host USB Converter serial number label shows the item ID, model,
serial number and manufacture date of the Host USB Converter. The
label also incorporates the “Consult Operating Instructions” graphic. An
example of the Host USB Converter serial number label is shown in
Figure 1-4 Host USB Converter Serial Number Label
Power Adapter
The system is powered by an NDI supplied power adapter. Disconnecting
the power adapter removes power from the system.
The power adapter connects to the mains supply and provides DC power
to the Scanner via the Host USB Converter.
The laptop power adapter that is certified with this device is Lenovo
42T4430. If a different laptop/computer is used, the power adapter
must be IEC 60601-1 certified, or leakage testing must be completed
by the end user for the alternate power adapter. Using an unapproved
power adapter may result in an electric shock hazard and possible
personal injury.

Krios User Guide - Revision 03 5
Host Computer
The host computer 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)
• 20 GB available hard disk space
• DirectX 9 graphics device with WDDM 1.0 or higher driver
• Operating system: Windows 7 (64 bit) and Windows 10 (64 bit)
• Screen resolution 1024 x 768 (1280 x 1024 recommended)
Software
Installation and use of the software is detailed in section 2.3.
2 System Setup
This section details the setup procedures for the NDI Krios System.
2.1 Connection Requirements
The Krios system must communicate with a host computer to pass
measurement information to another application running on the host
computer.
The Krios system is connected via USB. There are no special connection
or security requirements for USB; any USB connection 2.0 or above will
suffice. There is no power used from the USB connector.
The intended information flow from the Programmable Electrical
Medical Systems (PEMS) is included in the content of this manual.
The severity of all connections related to hazardous situations are the
responsibility of the system integrator. This is because there is no
essential performance of the PEMS.
Note: It is possible that connection to any computer network could
introduce new risks and require additional analysis. Furthermore, any

6 Krios User Guide - Revision 03
changes to the computer network including connection, disconnection,
updates and upgrades to existing equipment could also lead to new risks
that lead to additional analysis.
2.2 Hardware Connection
Connect the hardware as follows, see Figure 2-1:
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.
1. Connect the integral cable on the USB adapter to the Scanner
connector, located on the handle. Align the red mark on the Scanner
connector with the corresponding red mark on the cable connector
(the double keys of the connectors will be aligned).
Figure 2-1 Hardware Connection
Note:Only use the 3 m USB cable that is supplied with the system.
USB Connector B plug
Mains
Supply
Power Connector
Comm. Indicator
Power Indicator
Power
Adapter
USB Cable

Krios User Guide - Revision 03 7
2. Connect the USB cable B plug and power supply cable to the USB
adapter. Locate the top and bottom cable covers in place on the USB
adapter. Secure the covers with the thumbscrew, see Figure 2-2.
Figure 2-2 Connecting Cables to the USB Adapter
3. Plug the USB cable A plug into the host computer.
4. Make sure all the cables are connected firmly, and placed where they
will not be stressed, stepped on, or bent.
5. Plug the power cable into the power adapter.
Do not use a power bar or extension cable to connect the power
adapter to the mains supply. Doing so may result in an electric shock
hazard and possible personal injury.
Make sure the power adapter is connected to a mains supply with
protective earth. Failure to do so may result in an electric shock
hazard and possible personal injury.
6. Plug the power cable into the power mains and turn on the mains.
Top Cable Cover
Bottom Cable Cover
Power Supply
Cable
USB Cable B
plug
Scanner
Cable
Thumbscrew

8 Krios User Guide - Revision 03
7. The Scanner will begin a diagnostic evaluation. When the diagnostic
evaluation is complete, the Scanner will emit two beeps.
8. The USB adapter indicators will light as follows, see Figure 2-1:
• The power indicator lights green when power is applied to the
system.
• The communications indicator lights orange if there is a
communication problem between the host computer and the
system. It also flashes once when the USB adapter is first
switched on.
The power adapter must be located outside the patient environment
under all operating conditions. It is the responsibility of the system
integrator and/or the end-user to ensure that the system is
appropriately configured for the operating conditions.
2.3 Software Installation
To install the NDI Krios application, proceed as follows:
1. Run install.exe.
2. Follow the Installation Wizard to install the NDI Krios application.
After installation, the NDI Krios icon is placed on the desktop.
Note:Installing the NDI Krios application also installs the drivers for the USB
adapter. The default installation location is: C:\Program Files
(x86)\Northern Digital Inc.\Krios\USB Driver.
Host USB Drivers
You must install drivers when you first connect the NDI Host USB
Converter to the host computer. There are two sets of drivers for the NDI
Host USB Converter:
• the first set of drivers enables the NDI Host USB Converter to
work with the host computer

Krios User Guide - Revision 03 9
• the second set of drivers sets up the USB port where the NDI
Host USB Converter adapter is connected to emulate a serial
port
The USB drivers are downloaded as part of the NDI Krios installation.
The default download location is:
• C:\Program Files (x86)\Northern Digital Inc.\Krios\USB Driver
Driver Installation - Windows 7/10 Install the drivers for Windows 7/10 as
follows:
1. When you first connect the NDI Host USB Converter to the host
computer, an error message may appear over the task bar. Ignore the
message and complete the following steps to install the USB drivers.
2. From the Windows menu, select “Control Panel”.
3. In the top right hand corner of the Control Panel window, select
“View by: Small Icons”.
4. From the Control panel, select “Device Manager”.
5. Under Other Devices, right click NDI Host USB Converter.
6. Select “Update Driver Software...” then select “Browse my computer
for driver software”.
7. Select “C:\Program Files\Northern Digital Inc.\Krios\USB Driver”.
Select “Next”.
8. In the Windows security dialog, select “Install this driver software
anyway” option. The first set of drivers will install.
9. After the first set of drivers are installed, browse to “Other Devices”
and right click USB Serial Port.
10. Select “Update Driver Software...”, then select “Browse my
computer for driver software”.
11. Select “C:\Program Files\Northern Digital Inc.\Krios\USB Driver”.
Select “Next”.
12. In the Windows security dialog, select “Install this driver software
anyway” option. The second set of drivers will install.
Driver installation is complete and the system will now appear to be
connected through a virtual COM port.

10 Krios User Guide - Revision 03
Note:If you connect the Scanner to a different USB port, you will be prompted
to re-install the drivers.