Plus applications user manual  2.9.0.d0fd355
Software library for tracked ultrasound image acquisition, calibration, and processing.
CHRobotics CHR-UM6 magnetic, angular rate, and gravity (MARG) sensor

Supported hardware devices

Supported platforms

Installation

  • Contains accelerometer, gyroscope, and magnetometer sensors, each with 3 DOF.
  • Small (few centimeters by few centimeters), low-cost (about $200) device.
  • Sensor fusion algorithm is integrated into the device.
  • Need to enable the following options in the firmware: "Broadcast" and "Euler Output".
  • Gyroscope bias correction may (depending on settings in the Firmware) be performed automatically when powering up the device. Therefore after the powering the device it shall be kept stationary for a few seconds.

Device configuration settings

  • attribute.png
    Type = "ChRobotics"
    required.png
  • attribute.png
    AcquisitionRate
    optional.png
    Default = "20"
  • attribute.png
    LocalTimeOffsetSec
    optional.png
    Default = "0"
  • attribute.png
    ToolReferenceFrame
    optional.png
    Default = "Tracker"
  • attribute.png
    SerialPort Used COM port number for serial communication (ComPort: 1 => Port name: "COM1").
    optional.png
    Default = "5"
  • attribute.png
    BaudRate Baud rate for serial communication.
    optional.png
    Default = "115200"
  • attribute.png
    FirmwareDirectory Directory path containing the XML files that describes the device firmware (available registers, calibration, etc.). The path can be relative to the configuration directory.
    optional.png
    Default = "Absolute path of the executable"
  • element.png
    DataSources Exactly one DataSource child element is required.
    required.png

Example configuration file PlusDeviceSet_Server_ChRobotics.xml

<PlusConfiguration version="2.1">
<DataCollection StartupDelaySec="1.0">
<DeviceSet
Name="PlusServer: CHRobotics CH3-UM6 MARG sensor"
Description="Broadcasting tool tracking data through OpenIGTLink"
/>
<Device
Id="TrackerDevice"
Type="ChRobotics"
SerialPort="5"
BaudRate="115200"
FirmwareDirectory="ChRoboticsFirmware"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Tool" Id="OrientationSensor" PortName="OrientationSensor" />
</DataSources>
<OutputChannels>
<OutputChannel Id="TrackerStream">
<DataSource Id="OrientationSensor"/>
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="CaptureDevice"
Type="VirtualCapture"
BaseFilename="RecordingTest.igs.mha"
EnableCapturingOnStart="FALSE" >
<InputChannels>
<InputChannel Id="TrackerStream" />
</InputChannels>
</Device>
</DataCollection>
<PlusOpenIGTLinkServer
MaxNumberOfIgtlMessagesToSend="1"
MaxTimeSpentWithProcessingMs="50"
ListeningPort="18944"
OutputChannelId="TrackerStream"
>
<DefaultClientInfo>
<MessageTypes>
<Message Type="TRANSFORM" />
</MessageTypes>
<TransformNames>
<Transform Name="OrientationSensorToTracker" />
<xTransform Name="AccelerometerToTracker" />
<xTransform Name="GyroscopeToTracker" />
<xTransform Name="MagnetometerToTracker" />
</TransformNames>
</DefaultClientInfo>
</PlusOpenIGTLinkServer>
</PlusConfiguration>