array 170 having one or more sensors such as gyro sensors acceleration sensors infrared or electromagnetic sensors that can relay signals to the control module 200 the purpose of these sensors is to relay information that can be used to determine tool orientation roll pitch and yaw at the control module 200 such sensors can also be used to relay information about the tool translation in the x y and or z directions in three dimensional space instead of or in addition to the encoders 124 to determine the cable 11 12 13 and 14 lengths such sensors are commercially available from a wide variety of vendors and take a wide variety of shapes and configurations so the details of these sensors have not been illustrated in the figures the wires and or wireless transmitters receivers for to transferring sensor signals from the sensor array 170 to the control module 200 are also not shown in the figures although in at least one embodiment the cables 11 12 13 14 may carry such signals as has been previously explained according to some embodiments of the invention the tool 160 comprises a connection point to which the cables 11 12 13 and 14 are attached a separate tool or device may then be coupled to the tool 160 accordingly the sensor array 170 may be configured to detect rotation of the separate tool as it moves or rotates in one or more.