A system comprising: non-transitory computer readable media containing computer executable instructions for planning a procedure to deploy an interventional instrument including: instructions for receiving a model of an anatomic structure, the anatomic structure including a plurality of passageways ; instructions for identifying a target structure in the model; instructions for receiving information about an operational capability of the interventional instrument within the plurality of passageways ; and instructions for identifying a plurality of deployment locations, said system being characterized in that the non-transitory computer readable media containing computer executable instructions further includes instructions for identifying 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 a 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. instructions for receiving a model of an anatomic structure, the anatomic structure including a plurality of passageways ; instructions for identifying a target structure in the model; instructions for receiving information about an operational capability of the interventional instrument within the plurality of passageways ; and instructions for identifying a plurality of deployment locations, said system being characterized in that the non-transitory computer readable media containing computer executable instructions further includes instructions for identifying 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 a 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. <EOS>