Surgical cannulas and related systems and methods of identifying surgical cannulas

A medical system comprising:

• a manipulating system comprising a manipulator arm;
• a cannula mount supported by the manipulator arm, the cannula mount comprising:
• a receptacle, and
• one or more magnet sensors configured to sense a magnetic field;
• a cannula for insertion of a medical instrument mounted at the manipulator arm, the cannula comprising:
• a bowl portion;
• a tube portion extending distally from the bowl portion;
• and
• an attachment portion protruding radially outward from one side of the bowl portion, the attachment portion insertable into the receptacle of the cannula mount to mount the cannula in a position to permit removable insertion of the medical instrument through the tube portion,
• one or more magnets arranged at the attachment portion to encode information relating to the cannula;
• and
• a controller configured to:
• receive output from the one or more magnet sensors in response to the one or more magnet sensors sensing a magnetic field of the one or more magnets at the attachment portion of the cannula, and
• to control the manipulator arm based on the output.