A method of planning a procedure to deploy an interventional instrument, the method performed by a processing system, the method comprising: receiving a model of an anatomic structure, the anatomic structure including a plurality of passageways; identifying a target structure in the model; receiving information about an operational capability of the interventional instrument within the plurality of passageways; said method being characterized in that it comprises the steps of: identifying a plurality of deployment locations and a relative quality of each of the plurality of deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the information received about the operational capability of the interventional instrument, wherein identifying the plurality of deployment locations includes identifying a preliminary deployment location in one of the plurality of passageways and revising the preliminary deployment location to an deployment location based upon receipt of sensor data indicating a revised location of the target structure; identifying the plurality of deployment locations in the model on a display system, wherein each of the plurality of deployment locations is displayed using a code that provides information about the relative quality of each of the plurality of deployment locations for deploying the interventional instrument to perform the procedure; and identifying a planned deployment location from the plurality of deployment locations. receiving a model of an anatomic structure, the anatomic structure including a plurality of passageways; identifying a target structure in the model; receiving information about an operational capability of the interventional instrument within the plurality of passageways; said method being characterized in that it comprises the steps of: identifying a plurality of deployment locations and a relative quality of each of the plurality of deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the information received about the operational capability of the interventional instrument, wherein identifying the plurality of deployment locations includes identifying a preliminary deployment location in one of the plurality of passageways and revising the preliminary deployment location to an deployment location based upon receipt of sensor data indicating a revised location of the target structure; identifying the plurality of deployment locations in the model on a display system, wherein each of the plurality of deployment locations is displayed using a code that provides information about the relative quality of each of the plurality of deployment locations for deploying the interventional instrument to perform the procedure; and identifying a planned deployment location from the plurality of deployment locations. identifying a plurality of deployment locations and a relative quality of each of the plurality of deployment locations for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the information received about the operational capability of the interventional instrument, wherein identifying the plurality of deployment locations includes identifying a preliminary deployment location in one of the plurality of passageways and revising the preliminary deployment location to an deployment location based upon receipt of sensor data indicating a revised location of the target structure; identifying the plurality of deployment locations in the model on a display system, wherein each of the plurality of deployment locations is displayed using a code that provides information about the relative quality of each of the plurality of deployment locations for deploying the interventional instrument to perform the procedure; and identifying a planned deployment location from the plurality of deployment locations.