How to safely remove failed hard drives from PowerEdge R7525

I have a PowerEdge R7525 server with two failed hard drives that were part of a RAID 5 setup. It's currently showing Dell's Device Health Manager. I would like to shut down the server so I can remove the failed hard drives, but I can't seem to leave the Device Health Manager. When I hit the exit button, I am taken to a screen that says "one or more boot drivers require configuration changes. Press any key to load the driver health manager for configuration." which takes me back to the Device Health Manager. How should I proceed in order to remove the failed drives?