Aurora Features

Aurora Features and Benefits

Electromagnetic Tracking
  • Sub-millimetric and sub-degree tracking with no line-of-sight restrictions.
Sensors and Ready-to-Use Tools
  • NDI manufactures the smallest, most cost-efficient electromagnetic tracking sensors on the market today. These sensors have been designed for integration into third-party instruments and offer the following features:
    • Cost-efficient sensors allow for disposable applications.
    • Robust sensor designs for daily re-use applications.
    • Sensors as small as 0.3 mm in diameter for integration into high-gauge needles.
Medical Safety Approvals
  • Compliant with medical equipment safety standards.
Customizations
  • Custom Field Generator (FG) designs that withstand up to 100 autoclave cycles.
  • Customized FG and electronic form-factors to best match clinical workflow.
Metal Immunity
  • Tracking unaffected by the presence of most medical-grade stainless steel (300 series) and titanium.
  • An optional custom Tabletop Field Generator (FG) minimizes distortions produced by patient tables or other materials below it.
Easy Integration
  • The Aurora Application Program Interface (API) allows for easy application-specific software development.
  • Based on NDI’s Polaris line of optical measurement systems, the Aurora API provides quick integration of existing software applications developed for the most popular optical system on the market today.
  • Designed for medical applications, the Aurora System has all the necessary electrical safety approvals and classifications to enable OEM partners the quickest path to product realization.
User-Friendly & Reliabile
  • Pre-calibrated, the system can be quickly setup for immediate use.
  • Automated tool detection ensures uninterrupted system dependability during use.
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Aurora System

System Components and Principles of Operation

Field Generator

aurorafgs

The Field Generator (FG) emits a low-intensity, varying electromagnetic field and establishes the position of the tracking volume. Multiple FG types are available, each featuring plug-and-play functionality with the System Control Unit.

Planar Field Generator: For mounting on a position arm which offers flexible setup options around the patient.

Tabletop Field Generator: Only 3.4 cm thick, this FG is designed to be placed between the patient and the table. The FG incorporates a thin barrier that minimizes any tracking distortions caused by conductive or ferromagnetic materials located below it.

Sensors

all-aurora-sensors

Small currents are induced in the sensors by the varying electromagnetic field produced by the Field Generator. The characteristics of these electrical signals are dependent on the distance and angle between a sensor and the Field Generator.
Sensor Interface Units (SIU)

dsc_0240

Amplify and digitize the electrical signals from the sensors and provide an increased distance between the System Control Unit and sensors, while minimizing the potential for data noise.
System Control Unit (SCU)

dsc_0224

Collects information from the SIUs, calculates the position and orientation of each sensor and interfaces with the host computer.

Software

The Aurora System is supported by both standard and optional software applications. The applications allow you to access all system features and assist you with integrating the system into your custom applications.The software applications that are currently available are as follows:

Aurora ToolBox Aurora ToolBox consists of a suite of utilities used for diagnostics, maintenance, testing and development support for the Aurora System. Aurora ToolBox is a standard application included with all Aurora Systems.

An example of the utilities provided with Aurora ToolBox include:

  • View system configuration
  • View system information such as hardware and firmware versions
  • Update system firmware
  • Track tools for diagnostic assistance
  • Collect and save tool tracking data

Application Program Interface (API) Sample

Sample source code files are provided that demonstrate how to access the internal API. This assists you with integrating the Aurora System into custom software applications.

NDI 6D Architect Packaged with the optional Aurora Tool Developer’s Kit, this application allows you to characterize custom-designed tools so they function with the Aurora System.

OEM Customization

NDI recognizes that OEMs wishing to incorporate electromagnetic tracking in their applications are generally interested in customizing the Aurora components. This allows for the creation of new form-factors and seamless integration into an existing workflow.

  • Customized FGs become part of the solution rather than hardware to work around.
  • Customized electronic components allow for various form-factor solutions.
    • SIUs can be combined into a single break-out box
    • SCU and SIUs can be combined into a single enclosure
    • Simultaneous tracking of up to 16 sensors
  • Customized sensors and tools
    • Talk to us about your specific requirements

The Aurora System as presented on this website may be considered a starting point for understanding the principle components and system operation. NDI has designed the system and developed resources to be able to quickly respond to requests for customization. We work closely with our OEM partners to provide an optimized hardware solution. Talk to us about your specific requirements.

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Aurora Specifications (Planar Field)

Aurora Accuracy Performance – Planar Field Generator

The following metrics apply to the Aurora V2 System released in April 2011. The Aurora V2 System achieves 20% higher accuracy performance than previous Aurora Systems.

Cube Volume Dome Volume
RMS 95% Cl RMS 95% Cl
Accuracy – 5DOF Sensors*
Position 0.70 mm 1.40 mm 1.10 mm 2.00 mm
Orientation 0.20° 0.35° 0.20° 0.40°
Accuracy – 6DOF Sensors*
Position 0.48 mm 0.88 mm 0.70 mm 1.40 mm
Orientation 0.30° 0.48° 0.30° 0.55°

*All data collected with the Aurora V2 System in an environment free of electromagnetic disturbances. Accuracy depends on tool design and the presence of metal. Note: Results based on more than 300 random positions and orientations distributed throughout the characterized volume.

Characterized Measurement Volume

(All dimensions in mm)

Aurora Planar Field Generator Characterized Measurement Volume

Number of Sensors Eight 5DOF or Four 6DOF
Measurement Rate 40 Hz. Each measurement is independent, established using data not shared with earlier measurements (as is done when reporting update rate specifications).
Interface USB and RS-232 External synchronization port via 9 pin D-type connector
Power Supply 100 – 240 VAC, 50/60 Hz
Planar Field Generator 200 mm x 200 mm x 70 mm 3.2 kg
Tabletop Field Generator 762 mm x 507 mm x 34 mm 13.3 kg
System Control Unit 88 mm x 235 mm x 295 mm 3.4 kg
System Interface Unit 32 mm x 50 mm x 90 mm 250 g
Approvals and Classifications

EN60601-1-2:2007 Medical Electrical Equipment, Part 1: General requirements for safety – Collateral standard: Electromagnetic
Compatibility – Requirements and tests
Refer to the user guide for a complete listing of approvals and classifications.

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Aurora Specifications (Tabletop Field)

Aurora Accuracy Performance – Tabletop Field Generator

Volume
RMS 95% Cl
Accuracy – 5DOF Sensors*
Position 1.20 mm 1.80 mm
Orientation 0.50° 0.70°
Accuracy – 6DOF Sensors*
Position 0.80 mm 1.20 mm
Orientation 0.70° 0.80°

*Accuracy depends on the tool design and the presence of metal. Note: Results based on more than 300 random positions and orientations distributed throughout the characterized volume.

Characterized Measurement Volume

(All dimensions in mm)

Aurora-Tabletop-volume

 

Number of Sensors Eight 5DOF or Four 6DOF
Measurement Rate 40 Hz
Each measurement is independent, established using data not shared with earlier measurements – as is done when reporting update rate specifications.
Interface USB and RS-232
External synchronization port via 9 pin D-type connector
Power Supply 100 – 240 VAC, 50/60 Hz
Planar Field Generator 200 mm x 200 mm x 70 mm
3.2 kg
Tabletop Field Generator 762 mm x 507 mm x 34 mm
13.3 kg
System Control Unit 88 mm x 235 mm x 295 mm
3.4 kg
System Interface Unit 32 mm x 50 mm x 90 mm
250 g
Approvals and Classifications 60601-1, 60601-1-2 with CISPR 11 and FCC Class B RF emissions
Refer to the user guide for a complete listing of approvals and classifications.
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Aurora Technology

NDI Electromagnetic (EM) Tracking Technology

Electromagnetic spatial measurement systems determine the location of objects that are embedded with sensor coils. When the object is placed inside controlled, varying magnetic fields, voltages are induced in the sensor coils. These induced voltages are used by the measurement system to calculate the position and orientation of the object. As the magnetic fields are of a low field strength and can safely pass through human tissue, location measurement of an object is possible without the line-of-sight constraints of an optical spatial measurement system.

NDI’s Aurora System is an electromagnetic spatial measurement system that is able to track the smallest sensor coils on the market. This has allowed for a variety of innovative computer assisted surgery and therapy applications such as guided needle biopsies.

Advantages of NDI Electromagnetic Tracking

Advantages offered by NDI’s Aurora Electromagnetic Tracking System, include:

  • No line-of-sight required from sensor coil (tool) to field generator
  • Smallest 5DOF sensor coil allows for creation of tools that are ideal for in vivo applications
  • Designed to operate in environments containing medical-grade metals

Although in some cases, large ferromagnetic objects in the vicinity of the field generator can compromise electromagnetic measurement performance, positioning the Aurora Field Generator appropriately will minimize any interference distortion.

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Aurora Applications

Interventional Imaging
  • Enables new ultrasound imaging capabilities through localization of the ultrasound transducer:
  • Overlay live ultrasound images on pre-operatively acquired CT or MRI images through image fusion
  • Mark or tag anatomical features during an examination and re-navigate to landmarks for subsequent review and reporting
  • Visualize needles both in-plane and out-of-plane for needle-based drug delivery (anesthesia), biopsy, drainage, and vascular access
Anesthesia
  • Visualization of needles in ultrasound image for nerve block, vascular access and pain management
Oncology
  • Tracking ablation catheters
  • Tracking of needle tips within fluoro, CT, ultrasound or MRI images, including:
    • RF, microwave and other forms of ablation
    • Core tissue biopsy
    • Fluid aspirations
    • Brachytherapy
Endoscopy
  • Tracking tip position and orientation of rigid and flexible endoscopes
  • Tracking tip position and visualization of colonscope shape
Pulmonology
  • Tracking of the tip of a broncoscope or pulmonary catheter for accessing lesions in the lungs
ENT Surgery
  • Tracking of surgical instruments to confirm and facilitate procedural steps and to avoid critical cranial anatomy close to the sinus
Cardiology
  • Tracking of electriophysiology catheters to create high-resolution spatial maps of the electrical activity of the heart
  • Tracking of cardiac ablation catheters to precisely locate and address cardiac arrhythmia
Orthopaedic Trauma
  • Fluoroscope-free targeting of distal locking holes in intramedullary nails
Laparoscopic Surgery / Thoracic Surgery
  • Tracking of absolute and relative poses of laparoscopic ultrasound and video
    • Kidney
    • Liver
    • Gall bladder
    • Lymph nodes
Simulation and Surgeon Performance
  • Tracking of simulation instruments in virtual environments
  • Quantification and evaluation of surgeon motion
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Aurora Brochure

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