Kernel Dead error in Jupyter notebook integrated with Rstudio

We’ve recently integrated the Jupyter notebook with R studio with the help of document:

On quitting the Jupyter notebook session from Rstudio we receive the error stating “Dead Kernel”.
I tried upgrading the ipykernel using pip3 as well but no luck still the same error is appearing on quitting the notebook.

We have to restart the kernel every time to continue working.

Error: The kernel has died, and the automatic restart has failed. It is possible the kernel cannot be restarted. If you are not able to restart the kernel, you will still be able to save the notebook, but running code will no longer work until the notebook is reopened.

Could you please assist me how can I overcome the issue.