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医疗之家»论坛 › 手术设备 › 手术导航机器人 › NDI Vega, Polaris and Aurora pose trackers
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NDI Vega, Polaris and Aurora pose trackers

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发表于 2024-4-1 23:49:24 | 显示全部楼层 |阅读模式
Supported hardware devices
Any NDI tracking device is supported thatuses the common API, such as Polarisoptical and Auroraelectromagneticpose trackers.
Installation

  • If USB     connection is used then drivers should be installed to allow the computer     to connect to the system control unit (SCU).
  • If you have     just turned on the tracker and attempt to use it right away, you may get     the error message "command is invalid while in current mode";     wait for the leftmost LED on the position sensor to stop flashing and try     again.
  • Default     settings provide maximum compatibility (work with most trackers), but most     of the time they do not provide optimal performance. It is recommended to     use maximum BaudRate (typically 921600 works     well) to have high refresh rate and low latency. Tracking may be also     improved by choosing the most appropriate tracking volume by adjusting     the MeasurementVolumeNumber attribute.

Example configuration file Vega PlusDeviceSet_Server_NDIVega.xml
  1. <PlusConfiguration version="2.1">
  2.   <DataCollection StartupDelaySec="1.0" >
  3.     <DeviceSet
  4.       Name="PlusServer: NDI Vega tracker with passive markers - by IP"
  5.       Description="Broadcasting tool tracking data through OpenIGTLink
  6. For NDI Vega: Tool (8700339), Stylus (8700340), Reference (8700449)" />
  7.     <Device
  8.       Id="TrackerDevice"
  9.       Type="NDITracker"
  10.       NetworkHostname="192.168.0.30"
  11.       NetworkPort="8765"
  12.       ToolReferenceFrame="Reference" >
  13.       <DataSources>
  14.         <DataSource Type="Tool" Id="Stylus" RomFile="NdiToolDefinitions/8700248.rom"  />
  15.       </DataSources>
  16.       <OutputChannels>
  17.         <OutputChannel Id="TrackerStream" >
  18.           <DataSource Id="Stylus"/>
  19.         </OutputChannel>
  20.       </OutputChannels>
  21.     </Device>
  22.     <Device
  23.       Id="VideoDevice"
  24.       Type="OpenCVVideo"
  25.       VideoURL="rtsp://192.168.0.30/video">
  26.       <DataSources>
  27.         <DataSource Type="Video" Id="Video" ImageType="RGB_COLOR" PortUsImageOrientation="MF"  />
  28.       </DataSources>
  29.       <OutputChannels>
  30.         <OutputChannel Id="VideoStream" VideoDataSourceId="Video" />
  31.       </OutputChannels>
  32.     </Device>
  33.     <Device
  34.       Id="TrackedVideoDevice"
  35.       Type="VirtualMixer" >
  36.       <InputChannels>
  37.         <InputChannel Id="TrackerStream" />
  38.         <InputChannel Id="VideoStream" />
  39.       </InputChannels>
  40.       <OutputChannels>
  41.         <OutputChannel Id="TrackedVideoStream"/>
  42.       </OutputChannels>
  43.     </Device>
  44.   </DataCollection>
  45.   <CoordinateDefinitions>
  46.     <Transform From="Image" To="Reference"
  47.       Matrix="
  48.         1 0 0 0
  49.         0 1 0 0
  50.         0 0 1 0
  51.         0 0 0 1"
  52.        Error="0.554951" Date="012617_105449" />
  53.     <Transform From="StylusTip" To="Stylus"
  54.       Matrix="
  55.         1 0 0.000203823 0.0180449
  56.         3.31529e-09 -1  -1.62655e-05  -0.00144002
  57.         0.000203823 1.62655e-05 -1  -88.5321
  58.         0 0 0 1"
  59.        Error="0.554951" Date="012617_105449" />
  60.   </CoordinateDefinitions>
  61.   <PlusOpenIGTLinkServer
  62.     MaxNumberOfIgtlMessagesToSend="1"
  63.     MaxTimeSpentWithProcessingMs="50"
  64.     ListeningPort="18944"
  65.     SendValidTransformsOnly="true"
  66.     OutputChannelId="TrackedVideoStream" >
  67.     <DefaultClientInfo>
  68.       <MessageTypes>
  69.         <Message Type="IMAGE" />
  70.         <Message Type="TRANSFORM" />
  71.       </MessageTypes>
  72.       <ImageNames>
  73.         <Image Name="Image" EmbeddedTransformToFrame="Reference" />
  74.       </ImageNames>
  75.       <TransformNames>
  76.         <Transform Name="StylusTipToReference" />
  77.       </TransformNames>
  78.     </DefaultClientInfo>
  79.   </PlusOpenIGTLinkServer>
  80. </PlusConfiguration>
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Example configuration file Polaris PlusDeviceSet_Server_NDIAurora_NDIPolaris.xml
  1. <PlusConfiguration version="2.1">
  2.   <DataCollection StartupDelaySec="1.0" >
  3.     <DeviceSet
  4.       Name="PlusServer: NDI Polaris tracker with passive markers"
  5.       Description="Broadcasting tool tracking data through OpenIGTLink
  6. For NDI Polaris passive marker starting kit: Tool (8700339), Stylus (8700340), Reference (8700449)" />
  7.     <Device
  8.       Id="TrackerDevice"
  9.       Type="PolarisTracker"
  10.       ToolReferenceFrame="Tracker" >
  11.       <DataSources>
  12.         <DataSource Type="Tool" Id="Tool" RomFile="NdiToolDefinitions/8700339.rom"  />
  13.         <DataSource Type="Tool" Id="Stylus" RomFile="NdiToolDefinitions/8700340.rom"  />
  14.         <DataSource Type="Tool" Id="Reference" RomFile="NdiToolDefinitions/8700449.rom"  />
  15.       </DataSources>
  16.       <OutputChannels>
  17.         <OutputChannel Id="TrackerStream" >
  18.           <DataSource Id="Tool"/>
  19.           <DataSource Id="Stylus"/>
  20.           <DataSource Id="Reference"/>
  21.         </OutputChannel>
  22.       </OutputChannels>
  23.     </Device>
  24.     <Device
  25.       Id="CaptureDevice"
  26.       Type="VirtualCapture"
  27.       BaseFilename="RecordingTest.igs.nrrd"
  28.       EnableFileCompression="TRUE"
  29.       EnableCapturingOnStart="TRUE" >
  30.       <InputChannels>
  31.         <InputChannel Id="TrackerStream" />
  32.       </InputChannels>
  33.     </Device>   
  34.   </DataCollection>
  35.   <CoordinateDefinitions>
  36.     <Transform From="StylusTip" To="Stylus"
  37.       Matrix="
  38.         1 0 0.000203823 0.0180449
  39.         3.31529e-09 -1  -1.62655e-05  -0.00144002
  40.         0.000203823 1.62655e-05 -1  -88.5321
  41.         0 0 0 1"
  42.        Error="0.554951" Date="012617_105449" />
  43.   </CoordinateDefinitions>
  44.   <PlusOpenIGTLinkServer
  45.     MaxNumberOfIgtlMessagesToSend="1"
  46.     MaxTimeSpentWithProcessingMs="50"
  47.     ListeningPort="18944"
  48.     SendValidTransformsOnly="true"
  49.     OutputChannelId="TrackerStream" >
  50.     <DefaultClientInfo>
  51.       <MessageTypes>
  52.         <Message Type="TRANSFORM" />
  53.       </MessageTypes>
  54.       <TransformNames>
  55.         <Transform Name="StylusTipToReference" />
  56.         <Transform Name="ToolToReference" />
  57.         <Transform Name="ToolToTracker" />
  58.         <Transform Name="StylusToTracker" />
  59.         <Transform Name="ReferenceToTracker" />
  60.       </TransformNames>
  61.     </DefaultClientInfo>
  62.   </PlusOpenIGTLinkServer>
  63. </PlusConfiguration>
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Example configuration file Aurora PlusDeviceSet_Server_NDIAurora_NDIPolaris.xml
  1. <PlusConfiguration version="2.1">
  2.   <DataCollection StartupDelaySec="1.0">
  3.     <DeviceSet
  4.       Name="PlusServer: NDI Aurora and Polaris tracker"
  5.       Description="Broadcasting tool tracking data through OpenIGTLink
  6.       Tracking a single EM pointer and an optical pointer and reference." />
  7.     <Device
  8.       Id="EmTracker"
  9.       Type="AuroraTracker"
  10.       SerialPort="5"
  11.       BaudRate="115200"
  12.       AcquisitionRate="20"
  13.       LocalTimeOffsetSec="0.0"
  14.       ToolReferenceFrame="EmTracker" >
  15.       <DataSources>
  16.         <DataSource Type="Tool" Id="Pointer" PortName="0" />
  17.       </DataSources>
  18.       <OutputChannels>
  19.         <OutputChannel Id="EmTrackerStream">
  20.           <DataSource Id="Pointer" />
  21.         </OutputChannel>
  22.       </OutputChannels>
  23.     </Device>
  24.    
  25.     <Device
  26.       Id="OpticalTracker"
  27.       Type="PolarisTracker"
  28.       SerialPort="6"
  29.       BaudRate="115200"
  30.       AcquisitionRate="20"
  31.       LocalTimeOffsetSec="0.0"
  32.       ToolReferenceFrame="OpticalTracker" >
  33.       <DataSources>
  34.         <DataSource Type="Tool" Id="Stylus" RomFile="NdiToolDefinitions/8700340.rom" />
  35.         <DataSource Type="Tool" Id="Reference" RomFile="NdiToolDefinitions/8700449.rom" />
  36.       </DataSources>
  37.       <OutputChannels>
  38.         <OutputChannel Id="OpticalTrackerStream" >
  39.           <DataSource Id="Stylus"/>
  40.           <DataSource Id="Reference"/>
  41.         </OutputChannel>
  42.       </OutputChannels>
  43.     </Device>
  44.     <Device
  45.       Id="CombinedTracker"
  46.       Type="VirtualMixer" >
  47.       <InputChannels>
  48.         <InputChannel Id="EmTrackerStream" />
  49.         <InputChannel Id="OpticalTrackerStream" />
  50.       </InputChannels>
  51.       <OutputChannels>
  52.         <OutputChannel Id="CombinedTrackerStream"/>
  53.       </OutputChannels>
  54.     </Device>
  55.    
  56.   </DataCollection>
  57.   <PlusOpenIGTLinkServer
  58.     MaxNumberOfIgtlMessagesToSend="1"
  59.     MaxTimeSpentWithProcessingMs="50"
  60.     ListeningPort="18944"
  61.     SendValidTransformsOnly="true"
  62.     OutputChannelId="CombinedTrackerStream" >
  63.     <DefaultClientInfo>
  64.       <MessageTypes>
  65.         <Message Type="TRANSFORM" />
  66.       </MessageTypes>
  67.       <TransformNames>
  68.         <Transform Name="ReferenceToOpticalTracker" />
  69.         <Transform Name="StylusToOpticalTracker" />
  70.         <Transform Name="PointerToEmTracker" />        
  71.       </TransformNames>
  72.     </DefaultClientInfo>
  73.   </PlusOpenIGTLinkServer>
  74.   
  75. </PlusConfiguration>
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