A surgical robotic system comprises a manipulator assembly including a distal portion and a registration device mounted to a surgical table for establishing a spatial relationship between the manipulator assembly and the surgical table. The surgical table is separated from the manipulator assembly. The registration device includes a registration element shaped to contact with the distal portion of the manipulator assembly to define the spatial relationship between the manipulator assembly and the surgical table. The surgical robotic system also includes a control system for determining the spatial relationship between the manipulator assembly and the surgical table.