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  • Optotrak Certus User Guide

    Revision 6 November 2014

    IMPORTANT Please read this entire document before

    attempting to operate the Optotrak Certus System

  • Copyright 2009-2014 Northern Digital Inc. All Rights Reserved.

    p Printed in Canada.

    Revision Status

    Revision Number Date Description 1 March 2006 updated template and content 2 October 2006 Added First Principles file format information 3 January 2009 Reformatted to include accessories and smart markers 4 May 2010 Added video integration information 5 May 2011 Revised ODAU chapter 6 November 2014 Update SCU label

    Part Number: IL-1070106

  • Optotrak Certus User Guide - Revision 6

    Published by: Northern Digital Inc. 103 Randall Dr. Waterloo, Ontario, Canada N2V 1C5 Telephone: + (519) 884-5142 Toll Free: + (877) 634-6340 Global: + (800) 634 634 00 Facsimile: + (519) 884-5184 Website: www.ndigital.com

    Copyright 2009-2011 Northern Digital Inc. All rights reserved. No part of this document may be reproduced, transcribed, transmitted, distributed, modi- fied, merged or translated into any language in any form by any means - graphic, electronic, or mechanical, including but not limited to photocopying, recording, taping or information storage and retrieval systems - with- out the prior written consent of Northern Digital 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 elec- tronic 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 con- sult with Northern Digital Inc. prior to proceeding. 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 document. Northern Digital Inc. 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 ade- quacy 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 provi- sion of this document. In no event shall Northern Digital 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.

  • Optotrak Certus User Guide - Revision 6

  • Table of Contents

    Optotrak Certus User Guide - Revision 6 i

    Table of Contents Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .xiii Cautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv Disclaimers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii Contact Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvii

    1 System Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

    1.1 Basic System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Additional System Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Operational Measurement Volume . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.4 Global Coordinate System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.5 System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.6 System Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

    2 Host Computer Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

    2.1 Selecting a Host Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 Interface Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3 Installing the NDI PCI Interface Card. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.4 Installing an Ethernet Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.5 Connecting the USB Interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.6 Connecting a Secondary Host Computer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

    3 System Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

    3.1 Important! Ventilation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.2 Handling Cables and Connectors Correctly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 3.3 Handling Markers and Strobers Correctly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.4 Setup Task List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.5 Task One: Place the Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.6 Task Two: Connect the SCU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.7 Task Three: Connect the Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.8 Task Four: Connect Strobers to the SCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3.9 Task Five: Connect Markers, Rigid Bodies and Tools to Strobers . . . . . . . . . . . . . . 22

  • Table of Contents

    ii Optotrak Certus User Guide - Revision 6

    4 Alignment and Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

    4.1 Camera Parameter File (.cam) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.2 Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4.3 Alignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

    5 The System Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

    5.1 SCU Front View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 5.2 SCU Back View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

    6 The Position Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

    6.1 Position Sensor Front View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 6.2 Position Sensor Side View. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

    6.3 Position Sensor Centre Mount and Power Module . . . . . . . . . . . . . . . . . . . . . . . . . . 31

    7 Support Stands and Brackets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

    7.1 Base Stand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 7.2 Vinten Stand. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 7.3 Wall Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 7.4 Brunson Stand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 7.5 Brunson Stand with Multi-Axis Head . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

    8 Cables and Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

    8.1 Link Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .