Interlock mechanisms to disengage and engage a teleoperation mode

A method for disengaging a surgical instrument of a surgical robotic system, the method comprising:

• receiving a plurality of interlock inputs from one or more interlock detection components of the surgical robotic system;
• determining, by one or more processors communicatively coupled to the interlock detection components, whether the plurality of interlock inputs indicate the following interlock conditions are satisfied:
• (1) at least one or more user interface devices of the surgical robotic system having a tracker that indicates the at least one or more user interface devices are outside a trackable workspace of the surgical robotic system or the at least one or more user interface devices are in a stored configuration, and (2) a user's gaze is outside a display of the surgical robotic system;
• and
• in response to determining the interlock conditions are satisfied, transition the surgical robotic system out of a teleoperation mode such that the at least one or more user interface devices is prevented from controlling the surgical instrument.