Rename Zpool device to use disk Model Number and Serial Number

I have a zpool with 6 identical drives, which “zpool status” shows as follows:

NAME                                   STATE     READ WRITE CKSUM
tank                                   ONLINE       0     0     0
  raidz1-0                             ONLINE       0     0     0
    ata-HGST_HUS726060ALE614_K8HTZBBN  ONLINE       0     0     0
    sdb                                ONLINE       0     0     0
    ata-HGST_HUS726060ALE614_NCG6HD6S  ONLINE       0     0     0
    ata-HGST_HUS726060ALE614_NCG572AS  ONLINE       0     0     0
    ata-HGST_HUS726060ALE614_NCG6BUYS  ONLINE       0     0     0
    ata-HGST_HUS726060ALE614_K8GUBKZD  ONLINE       0     0     0

For reasons unknown, Zpool has not named the second drive with its Device Model and Serial Number like the other drives. This causes a problem if an extra drive is plugged into the system, because /dev/sdb now refers to a different drive, and ZFS degrades the pool with a label error message.

All of the drives in the pool have the same Device Model but different Serial Numbers. This information is visible with “smartctl -i /dev/sdb”.

How do I tell Zpool to relabel the drive using its Device Model and Serial Number like the other drives?