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Checklist and Instructions for Surgeon Recordings

Checklist

The following sensors and items are required:

  • RealSense RGB Camera, USB Cable

  • OptiTrack Trio Camera with Tripod and Ground

  • Fingertip Pressure Sensors TPS, Transmitter, USB Receiver, and Calibration Base

  • EMG Sensors, Probes and Receiver

  • USB Hub with at least 3 Ports (RealSense, OptiTrack, EMG, plus one extra...)

  • Optitrack Markers including placeholders, armbands, etc.

  • Glue, cable reel, tools, etc...

Setup

RealSense

Plug the RealSense to the computer (preferably directly to the computer instead of going through the hub), start the Windows Camera app and check the image is correctly displayed. For the stereo or the motion module, check with Intel RealSense Viewer. Close the apps after checking.

OptiTrack

Connect the OptiTrack Trio to the USB Hub. Then, start Motive, set the ground plane in the Calibration System Tools panel under Calibration → Set Ground Plane on the right of the main window and test the OptiTrack setup with the desired markers. Existing markers are listed in the Asset Pane window accessible in the toolbar. New marker frames can be created by selecting the markers in the main window, right click and then Rigid Body → Create From Selected Markers. The marker label and ID can also be seen and changed in the Asset Pane window. Make sure to test the setup will all the desired markers and check if the OptiTrack system can distinguish and localize them well. Let Motive run in the background.

TPS Calibration

Once the TPS Transmitter is turned on and the USB Receiver is plugged into the computer directly, run Chameleon TVR as administrator and let it connect to the sensors. Select the profile (1 or 2) depending on the transmitter that is used (they should be labeled). Additionally, connect the Calibration Base to the USB Hub. Then, in the toolbar, go on Calibration → Calibrate FingerTPS System. Specify in the GUI where the sensors are placed and begin the calibration process by clicking on begin and by following the instructions. To ensure that the calibration was successful, go to C: → Program Files → Pressure Profile Systems → Chameleon TVR → setup and check if the modified date of the -cal file corresponds to the current time. Close Chameleon afterwards.

EMG

Disconnect the EMG Probes from power supply such that they start blinking, turn on the EMG Receiver and connect it to the USB Hub.

Recording

NOTE: CTRL+C might not be working on Windows. Use CTRL+FN+B instead. If you find yourself in debug mode in the terminal, you can exit that by typing exit.

  1. Start the Anaconda Navigator. Three PowerShell Prompts will have to be launched from there.

  2. In the first terminal (T1), run

    cd .\path\to\recordings\surgeon_recording\
python .\copy_tps_calibration.py

    to copy the calibration file to the correct directory. If this is unsuccessful, the calibration didn't work or the most recent calibration file is too old (copying the calibration does only work within the next 10 minutes).

  3. Still in T1, run

    cd .\source\emgAcquire\
.\bin\emgAcquire.exe config.json

    to start the EMG. This will open a GUI. Click OK, wait for connection and check in T1 if data is transmitted. Do not close T1.

  4. Start your editor, navigate to path\to\recordings\surgeon_recording\source\config\ and open sensor_parameters.jon . Go through the file and adapt the parameters for your tracking setup. In particular, update the list of OptiTrack frames and TPS fingers with a label and the corresponding streaming ID. The streaming ID of the OptiTrack frames can be found in Motive, the one for the fingers is assigned during the calibration of the TPS sensors in the UI. Make sure the desired sensors have their status set to on.

  5. Open the watchmakingdatalog.sln project in Visual Studio. In the tool bar, click on Local Windows Debugger. This will open a prompt, do not close it until you finished recording.

  6. Open a second terminal (T2), run

    cd path\to\recordings\surgeon_recording\
conda activate surgeon_recording
python start_all_sensors.py

Check the output in T2 to see if the recording is successfully started. The EMG periodically prompts the frequency at which it receives data. If you see a recurring message received at 17Hz then it works properly. Sometimes, the EMG crashes (happens most of the time at startup) and this needs to be restarted. You can check whether the periodic message is still printing and if you are not seeing any error message. This is a good sign that the EMG is still working.

  1. Open a third terminal (T3), run

    cd path\to\recordings\surgeon_recording\
conda activate surgeon_recording
python recorder_app.py

    You can now access the web app and start recording data from there. Just type http://127.0.0.1:8080 in your browser and use the web app to save the data.

  2. To change from one surgeon to another, stop the process in T2, close the TPS prompt by pressing any key, recalibrate and copy the calibration file and execute step 5 and 6 again.