A method of deploying an interventional instrument comprises identifying a target structure within a patient anatomy in an anatomic frame of reference. The method further comprises determining a target region representing a location of the target structure in the the anatomic frame of reference with respect to a current location of the interventional instrument and recording a first engagement location of the interventional instrument within the target. Determining the target region includes determining a probabilistic distribution of the location of the target structure relative to the current location of the interventional instrument and associating each of the plurality of target points with a probability of engaging the target structure.