A robotic system, comprising: a first instrument, comprising: a shaft comprising a proximal portion and a distal portion, the distal portion comprising an articulable region and a distal end, the shaft comprising a working channel extending therethrough; and at least one pull wire; at least one sensor (460; 484) configured to detect a position of the distal end of the shaft; a second instrument configured to be inserted into the working channel of the shaft; at least one computer-readable memory (158; 168; 658; 668; 678) having stored thereon executable instructions; one or more processors (156; 166; 656; 666; 676) in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least: determine a position of the second instrument within the working channel of the shaft; and in response to the determined position of the second instrument: detect, based on a data signal from the at least one sensor, a position change of the distal end of the shaft in response to insertion of the second instrument into the working channel of the shaft; and generate at least one control signal based on the detected position change; and a drive mechanism connected to the at least one pull wire at the proximal portion of the shaft, the drive mechanism configured to adjust a tensioning of the at least one pull wire based on the at least one control signal, wherein the adjusted tensioning facilitates returning the distal end of the shaft towards an initial position before the position change occurred. a first instrument, comprising: a shaft comprising a proximal portion and a distal portion, the distal portion comprising an articulable region and a distal end, the shaft comprising a working channel extending therethrough; and at least one pull wire; a shaft comprising a proximal portion and a distal portion, the distal portion comprising an articulable region and a distal end, the shaft comprising a working channel extending therethrough; and at least one pull wire; at least one sensor (460; 484) configured to detect a position of the distal end of the shaft; a second instrument configured to be inserted into the working channel of the shaft; at least one computer-readable memory (158; 168; 658; 668; 678) having stored thereon executable instructions; one or more processors (156; 166; 656; 666; 676) in communication with the at least one computer-readable memory and configured to execute the instructions to cause the system to at least: determine a position of the second instrument within the working channel of the shaft; and in response to the determined position of the second instrument: detect, based on a data signal from the at least one sensor, a position change of the distal end of the shaft in response to insertion of the second instrument into the working channel of the shaft; and generate at least one control signal based on the detected position change; and determine a position of the second instrument within the working channel of the shaft; and in response to the determined position of the second instrument: detect, based on a data signal from the at least one sensor, a position change of the distal end of the shaft in response to insertion of the second instrument into the working channel of the shaft; and generate at least one control signal based on the detected position change; and detect, based on a data signal from the at least one sensor, a position change of the distal end of the shaft in response to insertion of the second instrument into the working channel of the shaft; and generate at least one control signal based on the detected position change; and a drive mechanism connected to the at least one pull wire at the proximal portion of the shaft, the drive mechanism configured to adjust a tensioning of the at least one pull wire based on the at least one control signal, wherein the adjusted tensioning facilitates returning the distal end of the shaft towards an initial position before the position change occurred.