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A rhondium sensor was an ad hoc device built at least twice by the Doctor. As they were built from whatever materials were available at the time, the versions created by the third and tenth incarnations varied greatly in design.
File:London Bus Transports To Desert - Doctor Who - Planet Of The Dead - BBC
The Tenth Doctor's rhondium sensor alerts him of a huge wormhole just barely before the 200 drives into it. (TV: Planet of the Dead)
They were used to detect delta particles. The device alerted the Third Doctor to the use of the Sontaran osmic projector, itself a device that created a quantum tunnel that connected two disparate points in time. (TV: The Time Warrior, PROSE: Lords of the Storm)
The device later detected and alerted the Tenth Doctor of the presence of a growing wormhole created by Stingrays which linked central London to the planet, San Helios. (TV: Planet of the Dead)