Robotic System for Magnetic Resonance Imaging‐guided High‐intensity Focus Ultrasound Application: Feasibility of Breast Fibroadenoma Treatment

This paper presents a high‐intensity focus ultrasound (HIFU) robotic system for treating breast fibroadenoma under the guidance of magnetic resonance imaging (MRI). Based on the thermal and mechanical effects of ultrasound, the system aims to deliver ultrasound energy to a target precisely without damaging the normal tissue. The temperature elevation can be monitored in real time by MRI, and the treatment plan can be adjusted during the procedure. The requirements, design specifications, control system and registration of the robotic system are specified.