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An individual Time Lord can choose to regenerate, even without having suffered any injury. Romana did this in "Destiny of the Daleks". Despite being out of regenerations, Azmael chose to begin a regeneration in "The Twin Dilemma", as a means of committing suicide.

The Time Lord authorities can also compel a Time Lord to regenerate, as they did to the Doctor between "The War Games" & "Spearhead from Space".