Metal detector for detecting insertion of a surgical device into a hollow tube

An automated medical system comprising:

• a robot body;
• a robot arm configured to be supported by the robot body;
• an end effector removably attachable to the robot arm, the end effector including a hollow tube and a metal detector for detecting insertion of a metallic surgical device into a hollow tube;
• a camera configured to track the end effector;
• wherein the metal detector further includes:
• a coil mounted to the hollow tube;
• a capacitor coupled to and defining a resonant circuit with the coil;
• a switch adapted to couple a voltage source to the resonant circuit;
• a controller connected to the switch and the resonant circuit, and operable to turn on the switch for a preselected time period to temporarily provide a current to the resonant circuit and analyze a decaying voltage waveform originating from the resonant circuit when the switch is turned off to determine a presence of the metallic surgical device in the hollow tube.