Before revision:  Many commercial TSM-based medical devices have non-linear phenomena resulting from their composition such as backlash  and dead zone hysteresis , which lead to a considerable challenge for achieving precise control of the end effector pose.
After revision:  Many commercial TSM-based medical devices have non-linear phenomena resulting from their composition such as backlash and dead zone , which lead to a considerable challenge for achieving precise control of the end effector pose.