diff --git a/README.md b/README.md
index 8c95a51..93406f0 100644
--- a/README.md
+++ b/README.md
@@ -203,6 +203,15 @@ method:
 registry.clear()
 ```
 
+To **remove disconnected devices** from the registry, use the ``pop_disconnected()`` method with an optional timeout:
+
+```python
+
+# Wait 5 seconds to give devices a chance to connect
+disconnected_devices = registry.pop_disconnected(timeout=5)
+
+```
+
 To **remove individual objects**, use either the *del* keyword, or the
 ``pop()`` method. These approaches work with either the
 ``OphydObject`` instance itself, or the instance's name:
diff --git a/pyproject.toml b/pyproject.toml
index 1c713f3..f8c29b4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "ophyd-registry"
-version = "1.1.0"
+version = "1.2.0"
 authors = [
   { name="Mark Wolfman", email="wolfman@anl.gov" },
 ]
@@ -19,7 +19,7 @@ dependencies = ["ophyd"]
 
 [project.optional-dependencies]
 
-dev = ["black", "isort", "pytest", "build", "twine", "flake8", "ruff"]
+dev = ["black", "isort", "pytest", "build", "twine", "flake8", "ruff", "pytest-mock"]
 
 [project.urls]
 "Homepage" = "https://github.com/spc-group/ophyd-registry"
diff --git a/src/ophydregistry/registry.py b/src/ophydregistry/registry.py
index 520a0f8..7ba1e0f 100644
--- a/src/ophydregistry/registry.py
+++ b/src/ophydregistry/registry.py
@@ -1,9 +1,10 @@
 import logging
+import time
 import warnings
 from collections import OrderedDict
 from itertools import chain
-from typing import List, Mapping, Optional
-from weakref import WeakValueDictionary, WeakSet
+from typing import List, Mapping, Optional, Set
+from weakref import WeakSet, WeakValueDictionary
 
 from ophyd import ophydobj
 
@@ -114,13 +115,17 @@ class Registry:
     use_typhos: bool
     keep_references: bool
     _auto_register: bool
+    _valid_classes: Set[type] = {ophydobj.OphydObject}
 
     # components: Sequence
     _objects_by_name: Mapping
     _objects_by_label: Mapping
 
     def __init__(
-        self, auto_register: bool = True, use_typhos: bool = False, keep_references: bool = True
+        self,
+        auto_register: bool = True,
+        use_typhos: bool = False,
+        keep_references: bool = True,
     ):
         # Check that Typhos is installed if needed
         if use_typhos and not typhos_available:
@@ -219,6 +224,35 @@ def clear(self, clear_typhos: bool = True):
         if clear_typhos and self.use_typhos:
             typhos.plugins.core.signal_registry.clear()
 
+    def pop_disconnected(self, timeout: float = 0.0) -> List:
+        """Remove any registered objects that are disconnected.
+
+        Parameters
+        ==========
+        timeout
+          How long to wait for devices to connect, in seconds.
+
+        Returns
+        =======
+        disconnected
+          The root level devices that were removed.
+
+        """
+        remaining = [dev for dev in self.root_devices]
+        t0 = time.monotonic()
+        timeout_reached = False
+        while not timeout_reached:
+            # Remove any connected devices for the running list
+            remaining = [dev for dev in remaining if not dev.connected]
+            if len(remaining) == 0:
+                # All devices are connected, so just end early.
+                break
+            time.sleep(min((0.05, timeout / 10.0)))
+            timeout_reached = (time.monotonic() - t0) > timeout
+        # Remove unconnected devices from the registry
+        popped = [self.pop(dev) for dev in remaining]
+        return popped
+
     @property
     def component_names(self):
         return set(self._objects_by_name.keys())
@@ -304,9 +338,22 @@ def find(
             result = None
         return result
 
+    def _is_resolved(self, obj):
+        """Is the object already resolved into an ophyd device, etc.
+
+        This method checks the type of the object. To extend this to
+        other types of objects, override this objects
+        ``_valid_classes`` attribute with a new set.
+
+        """
+        for cls in self._valid_classes:
+            if isinstance(obj, cls):
+                return True
+        return False
+
     def _findall_by_label(self, label, allow_none):
         # Check for already created ophyd objects (return as is)
-        if isinstance(label, ophydobj.OphydObject):
+        if self._is_resolved(label):
             yield label
             return
         # Recursively get lists of components
@@ -333,7 +380,7 @@ def _findall_by_label(self, label, allow_none):
 
     def _findall_by_name(self, name):
         # Check for already created ophyd objects (return as is)
-        if isinstance(name, ophydobj.OphydObject):
+        if self._is_resolved(name):
             yield name
             return
         # Check for an edge case with EpicsMotor objects (user_readback name is same as parent)
diff --git a/src/ophydregistry/tests/test_instrument_registry.py b/src/ophydregistry/tests/test_instrument_registry.py
index 281ed49..0a3003d 100644
--- a/src/ophydregistry/tests/test_instrument_registry.py
+++ b/src/ophydregistry/tests/test_instrument_registry.py
@@ -1,5 +1,7 @@
-import gc
 import logging
+import time
+from concurrent.futures import ThreadPoolExecutor
+from unittest import mock
 
 import pytest
 from ophyd import Device, EpicsMotor, sim
@@ -10,6 +12,7 @@
 @pytest.fixture()
 def registry():
     reg = Registry(auto_register=False, use_typhos=False)
+    reg._valid_classes = {mock.MagicMock, *reg._valid_classes}
     try:
         yield reg
     finally:
@@ -447,3 +450,53 @@ def test_weak_references():
     # Check that it's not in the registry anymore
     with pytest.raises(ComponentNotFound):
         registry.find("weak_motor")
+
+
+@pytest.fixture()
+def motors(mocker):
+    mocker.patch("ophyd.epics_motor.EpicsMotor.connected", new=True)
+    good_motor = EpicsMotor(name="good_motor")
+    good_motor.connected = True
+    bad_motor = EpicsMotor(name="bad_motor")
+    bad_motor.connected = False
+    return (good_motor, bad_motor)
+
+
+def test_pop_disconnected(registry, motors):
+    """Check that we can remove disconnected devices."""
+    good_motor, bad_motor = motors
+    registry.register(good_motor)
+    registry.register(bad_motor)
+    # Check that the disconnected device gets removed
+    popped = registry.pop_disconnected()
+    with pytest.raises(ComponentNotFound):
+        registry["bad_motor"]
+    # Check that the popped device was returned
+    assert len(popped) == 1
+    assert popped[0] is bad_motor
+    # Check that the connected device is still in the registry
+    assert registry["good_motor"] is good_motor
+
+
+def test_pop_disconnected_with_timeout(registry, motors):
+    """Check that we can apply a timeout when waiting for disconnected
+    devices.
+
+    """
+    good_motor, bad_motor = motors
+    good_motor.connected = False  # It starts disconnected
+    # Register the devices
+    registry.register(good_motor)
+    registry.register(bad_motor)
+
+    # Remove the devices with a timeout
+    def make_connected(dev, wait):
+        time.sleep(wait)
+        dev.connected = True
+
+    with ThreadPoolExecutor(max_workers=1) as executor:
+        # Make the connection happen after 50 ms
+        executor.submit(make_connected, good_motor, 0.15)
+        registry.pop_disconnected(timeout=0.3)
+    # Check that the connected device is still in the registry
+    assert registry["good_motor"] is good_motor