configuration such as maximum allowable cardiac electrogram amplitude changes versus time in a hardware configuration featuring a cardiac electrogram sensor such as one located distally on an elongate instrument maximum allowable rf generator power output changes versus time in a hardware configuration featuring an rf generator which may be coupled to a distal treatment electrode maximum allowable rf generator impedance change versus time in a hardware configuration featuring and rf generator and impedance monitoring capabilities and maximum allowable sensed force vectors in absolute terms or as force change versus time i e impulse in hardware configurations wherein one or more force sensors may be utilized to detect loads imparted to an elongate instrument by surrounding structures such as tissues or other instruments a response plan paradigm may then be selected to direct a controller configured to operate the electromechanical elongate instrument in the instances wherein thresholds such as those described above are exceeded 302 for example when a given threshold is exceeded the controller may be configured to direct the instrument to move proximally into free space to increase the rate of motion of the instrument as it translates adjacent or against the subject anatomy to decrease the amount of time spent at.