Surgical robotics systems and devices having a sterile restart, and methods thereof

An apparatus, comprising:

• a restart of a surgical robotic system that is configured to be activated by a sterile user from within a sterile field without compromising the sterile field;
• and
• a controller operatively coupled to the restart, the controller being configured to:
• deactivate, in response to detecting an abnormal event, teleoperation of a slave manipulator of the surgical robotic system by a master console of the surgical robotic system;
• detect that the restart has been activated by the sterile user from within the sterile field;
• in response to detecting that the restart has been activated, determine whether an instrument is coupled to the slave manipulator of the surgical robotic system;
• and
• in response to determining that the instrument is coupled to the slave manipulator, enable telemanipulation of the instrument in a predefined set of degrees-of-freedom (DOFs).