While filming a fight with the castle guard, Jonathan Frakes was injured from the stuntman's sword after it broke through the Little John Quarterstaff and he had to be taken to the hospital in his Robin Hood-era clothes. Frakes later remarked how funny it was that no one in the Hollywood hospital thought it was a weird thing to have happened.
The moment where Vash stumbles while pacing in her Marian gown was not scripted. Jennifer Hetrick actually tripped but carried on with the scene and it was decided to be kept in as it was natural for Vash to not be used to the long outfit.
The scene where Worf grabs the mandolin from Geordi and smashes it against a tree is a takeoff of the scene from National Lampoon's Animal House (1978) where John Belushi's character grabs the guitar from the folk singer on the stairs of the frat house and smashes it against the wall. He then sheepishly apologizes for his actions as does Worf.
Marina Sirtis and Gates McFadden were trained in sword fighting, but only the men were allowed to use swords.
Producers also considered a Camelot-themed story for the episode. (Patrick Stewart had earlier appeared in the 1981 Camelot-themed movie Excalibur (1981)). The Robin Hood angle was ultimately selected largely due to the buzz over the pending release of Robin Hood: Prince of Thieves (1991). In addition, Ira Steven Behr was a fan of Robin Hood, and particularly of the Errol Flynn version The Adventures of Robin Hood (1938).