diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp
index 2da5ecf835..62bcb6d31c 100644
--- a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp
+++ b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.cpp
@@ -1,168 +1,195 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 
 #include <mitkPolhemusInterface.h>
 #define _USE_MATH_DEFINES
 #include <math.h>
 
 BYTE  MotionBuf[0x1FA400];
 
 mitk::PolhemusInterface::PolhemusInterface()
 {
 
+
+}
+
+mitk::PolhemusInterface::~PolhemusInterface()
+{
+
+}
+bool mitk::PolhemusInterface::InitializeDevice()
+{
+  m_pdiDev.Trace(TRUE, 7);
+  return true;
+}
+
+bool mitk::PolhemusInterface::SetupDevice()
+{
   m_pdiDev.SetPnoBuffer(MotionBuf, 0x1FA400);
   m_pdiDev.SetMetric(true); //use cm instead of inches
-  /* some settings, not sure if we need them
-  m_pdiDev.Trace(TRUE, 7);
+
+  m_pdiDev.StartPipeExport();
+
   CPDImdat pdiMDat;
   pdiMDat.Empty();
   pdiMDat.Append(PDI_MODATA_FRAMECOUNT);
   pdiMDat.Append(PDI_MODATA_POS);
   pdiMDat.Append(PDI_MODATA_ORI);
   m_pdiDev.SetSDataList(-1, pdiMDat);
-  */
-}
 
-mitk::PolhemusInterface::~PolhemusInterface()
-{
+  CPDIbiterr cBE;
+  m_pdiDev.GetBITErrs(cBE);
+
+  TCHAR sz[100];
+  cBE.Parse(sz, 100);
 
+  if (!(cBE.IsClear())) {m_pdiDev.ClearBITErrs();}
+
+  return true;
 }
 
 bool mitk::PolhemusInterface::StartTracking()
 {
-  /* some setting / not sure if we need them
   LPCTSTR	szWindowClass = _T("PDIconsoleWinClass");
   HINSTANCE hInst = GetModuleHandle(0);
   HWND	hwnd = CreateWindowEx(
     WS_EX_NOACTIVATE,//WS_EX_STATICEDGE, //
     szWindowClass,
     _T("MyWindowName"),
     WS_POPUP,
     0, 0, 1, 1,
     HWND_MESSAGE,
     0,
     hInst,
     0);
-  */
+
   m_continousTracking = true;
-  return m_pdiDev.StartContPno(0);
+  return m_pdiDev.StartContPno(hwnd);
 }
 
 bool mitk::PolhemusInterface::StopTracking()
 {
   m_continousTracking = false;
   return true;
 }
 
 bool mitk::PolhemusInterface::Connect()
 {
+  if (!InitializeDevice()) { return false; }
+
   if (m_pdiDev.CnxReady()) { return true; }
+  CPDIser	pdiSer;
+  m_pdiDev.SetSerialIF(&pdiSer);
 
   ePiCommType eType = m_pdiDev.DiscoverCnx();
   switch (eType)
   {
   case PI_CNX_USB:
     MITK_INFO << "USB Connection: " << m_pdiDev.GetLastResultStr();
     break;
   case PI_CNX_SERIAL:
     MITK_INFO << "Serial Connection: " << m_pdiDev.GetLastResultStr();
     break;
   default:
     MITK_INFO << "DiscoverCnx result: " << m_pdiDev.GetLastResultStr();
     break;
   }
 
+  if (!SetupDevice()) { return false; }
+
   return m_pdiDev.CnxReady();
 }
 
 bool mitk::PolhemusInterface::Disconnect()
 {
   if (m_continousTracking)
   {
     m_continousTracking = false;
     if (!m_pdiDev.Disconnect()) return false;
   }
   return true;
 }
 
 std::vector<mitk::PolhemusInterface::trackingData> mitk::PolhemusInterface::GetLastFrame()
 {
   PBYTE pBuf;
   DWORD dwSize;
 
   //read one frame
   if (!m_pdiDev.LastPnoPtr(pBuf, dwSize)) {MITK_WARN << m_pdiDev.GetLastResultStr();}
 
   std::vector<mitk::PolhemusInterface::trackingData> returnValue = ParsePolhemusRawData(pBuf, dwSize);
 
   if (returnValue.empty()) { MITK_WARN << "Cannot parse data / no tools present"; }
 
   return returnValue;
 }
 
 unsigned int mitk::PolhemusInterface::GetNumberOfTools()
 {
   if (m_continousTracking) return GetLastFrame().size();
   else return GetSingleFrame().size();
 }
 
 std::vector<mitk::PolhemusInterface::trackingData> mitk::PolhemusInterface::GetSingleFrame()
 {
   if (m_continousTracking) return std::vector<mitk::PolhemusInterface::trackingData>();
 
   PBYTE pBuf;
   DWORD dwSize;
 
   //read one frame
   if (!m_pdiDev.ReadSinglePnoBuf(pBuf, dwSize)) { MITK_WARN << m_pdiDev.GetLastResultStr(); }
 
   return ParsePolhemusRawData(pBuf, dwSize);
 }
 
 std::vector<mitk::PolhemusInterface::trackingData> mitk::PolhemusInterface::ParsePolhemusRawData(PBYTE pBuf, DWORD dwSize)
 {
   std::vector<mitk::PolhemusInterface::trackingData> returnValue;
 
   DWORD i = 0;
 
   while (i<dwSize)
   {
     BYTE ucSensor = pBuf[i + 2];
     SHORT shSize = pBuf[i + 6];
 
     // skip rest of header
     i += 8;
 
     PDWORD pFC = (PDWORD)(&pBuf[i]);
     PFLOAT pPno = (PFLOAT)(&pBuf[i + 4]);
 
     mitk::PolhemusInterface::trackingData currentTrackingData;
 
+    currentTrackingData.id = ucSensor;
+
     currentTrackingData.pos[0] = pPno[0] * 10; //from cm to mm
     currentTrackingData.pos[1] = pPno[1] * 10;
     currentTrackingData.pos[2] = pPno[2] * 10;
 
     double azimuthAngle = pPno[3] / 180 * M_PI; //from degree to rad
     double elevationAngle = pPno[4] / 180 * M_PI;
     double rollAngle = pPno[5] / 180 * M_PI;
     vnl_quaternion<double> eulerQuat(rollAngle, elevationAngle, azimuthAngle);
     currentTrackingData.rot = eulerQuat;
 
     returnValue.push_back(currentTrackingData);
     i += shSize;
   }
   return returnValue;
 }
diff --git a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h
index 86607dde45..c62698b746 100644
--- a/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h
+++ b/Modules/IGT/TrackingDevices/mitkPolhemusInterface.h
@@ -1,108 +1,113 @@
 /*===================================================================
 
 The Medical Imaging Interaction Toolkit (MITK)
 
 Copyright (c) German Cancer Research Center,
 Division of Medical and Biological Informatics.
 All rights reserved.
 
 This software is distributed WITHOUT ANY WARRANTY; without
 even the implied warranty of MERCHANTABILITY or FITNESS FOR
 A PARTICULAR PURPOSE.
 
 See LICENSE.txt or http://www.mitk.org for details.
 
 ===================================================================*/
 
 #ifndef MITKPolhemusINTERFACE_H_HEADER_INCLUDED_
 #define MITKPolhemusINTERFACE_H_HEADER_INCLUDED_
 
 
 #include <vector>
 #include <string>
 
 #include <MitkIGTExports.h>
 #include "mitkCommon.h"
 
 #include <itkObject.h>
 #include <itkObjectFactory.h>
 
 #include <windows.h>
 #include <tchar.h>
 #include <string>
 #include <PDI.h>
 
 #include <mitkNavigationData.h>
 
 
 
 namespace mitk
 {
 
   /** Documentation:
   *   \brief An object of this class represents the interface to Polhemus trackers.
   *   \ingroup IGT
   */
   class MITKIGT_EXPORT PolhemusInterface : public itk::Object
   {
   public:
 
     mitkClassMacroItkParent(PolhemusInterface,itk::Object);
     itkFactorylessNewMacro(Self);
     itkCloneMacro(Self);
 
     struct trackingData
     {
       mitk::Point3D pos;
       mitk::Quaternion rot;
+      BYTE id;
     };
 
     /**
     * \brief Opens the connection to the device and makes it ready to track tools.
     * \return Returns true if there is a connection to the device and the device is ready to track tools, false if not.
     */
     bool StartTracking();
 
     /**
     * \brief Clears all resources. After this method have been called the system isn't ready to track any longer.
     * \return Returns true if the operation was succesful, false if not.
     */
     bool StopTracking();
 
     bool Connect();
 
     bool Disconnect();
 
     /** @return Returns a single frame. Only works if the tracking device is not in continous tracking mode. Returns an empty vector in case of an error.*/
     std::vector<trackingData> GetSingleFrame();
 
     /** @return Returns the last frame when the tracking device is in continous tracking mode. Returns an empty vector in case of an error.*/
     std::vector<trackingData> GetLastFrame();
 
     /** @return Returns the number of tools. Returns 0 if no information is avialable.*/
     unsigned int GetNumberOfTools();
 
   protected:
     /**
     * \brief standard constructor
     */
     PolhemusInterface();
     /**
     * \brief standard destructor
     */
     ~PolhemusInterface();
 
     /** Polhemus liberty/patriot tracker object*/
     CPDIdev m_pdiDev;
 
     /** Parses polhemus raw data to a collection of tracking data of single tools. */
     std::vector<mitk::PolhemusInterface::trackingData> ParsePolhemusRawData(PBYTE pBuf, DWORD dwSize);
 
     unsigned int m_numberOfTools;
 
     bool m_continousTracking;
 
+    bool InitializeDevice();
+
+    bool SetupDevice();
+
 
   };
 }//mitk
 #endif