1600) for a surgical system may include a magnet (714, 820 to 823) located in a position to be sensed by the surgical system in a mounted position of the cannula (300, 400, 500, 700, 1600) to the surgical system. At least one of a presence of the magnet (714, 820 to 823) and a polarity of the magnet (714, 820 to 823) is sensed in the mounted position of the cannula (300, 400, 500, 700, 1600) to provide identification information relating to the cannula (300, 400, 500, 700, 1600). Exemplary embodiments further encompass a patient side cart (100) for a teleoperated surgical system, the patient side cart (100) including a base (102), a main column (104), and an arm (110, 520) connected to the main column (104). The arm (110, 520) may include a mount to receive a cannula (300, 400, 500, 700, 1600) and a reader (622, 900) to sense a magnet (714, 820 to 823) of an identification device in the cannula (300, 400, 500, 700, 1600) so as to receive identification information relating to a mounted cannula (300, 400, 500, 700, 1600).
