The catheter includes an outer tube with an inlet end portion and a stop formed on the inlet end portion. A second sequence of patterns of light symbols that spatio-temporally encode two-dimensional position information in a second projection plane is projected onto the scene. The transmission assembly is driven by the motor and has a transverse axle mounted rotatably on the platform. A removable ink is applied to any portion of the surgical instrument in the form of indicia that is readable by a scanning device. This feature of the sheath may be a ripcord, a seam or interlocking features the releasably engage one another.