A telesurgery system having a surgical assembly with a motor and a surgical instrument. The surgical assembly has at least one drive mechanism driven by the motor. A sensor assembly is coupled to non-volatile memory, and is for recording position of the at least one rotatable mechanism to the non-volatile memory. A controller is communicatively coupled to the sensor assembly. The controller a processor configured to execute a method. In the method, rotational position of the a drive mechanism is recorded to the non-volatile memory during use of the surgical assembly. A mid-procedure shut-down of the surgical assembly is then initiated. A request is then received to initiate a mid-procedure restart of the surgical assembly. It is then determined whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position to allow the mid-procedure restart to complete.
