Latency Compensation for Real-Time 3D HIFU Beam-Steering on Moving Targets

Mario Ries¹, Baudouin Denis de Senneville¹, Sbastien Roujol¹, Chrit Moonen¹

Dynamic beam-steering of high intensity focused ultrasound (HIFU) based on MR-guidance is a promising technology for the non-invasive ablation of pathological tissue in abdominal organs such as liver and kidney. A particular problem of this technique remains the intrinsic latency between the position measurement and the beam update, which leads to undesired energy dispersion and potentially to the destruction of non-pathological tissue. In this study, dynamic beam-steering using a robust Kalman-predictor for 3D motion anticipation is evaluated experimentally.