Before revision:  We analyze our proposed methods with multiple Intra-cardiac Echocardiography  catheters, which are typical commercial example of TSM  . Our results show that the errors from backlash  and dead zone hysteresis are considerably reduced and therefore the accuracy of robotic control is improved when applying the presented methods.
After revision:  We analyze our proposed methods with multiple Intra-cardiac Echocardiography catheters, which are typical commercial example of TSM , by periodic and non-periodic motions . Our results show that the errors from backlash and dead zone hysteresis are considerably reduced and therefore the accuracy of robotic control is improved when applying the presented methods.