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Figure 8 | Journal of Therapeutic Ultrasound

Figure 8

From: Three-axis MR-conditional robot for high-intensity focused ultrasound for treating prostate diseases transrectally

Figure 8

Strategy of creating overlapping lesions and thermal lesions and the grid ablation from a plane. (A) Strategy of creating overlapping lesions by moving the linear axis X and the angular axis θ (example of five linear steps and three angular steps). (B) Overlapping thermal lesions created in gel phantom using both the linear and angular stages of the positioning device. The intensity used was 1,200 W/cm2 (spatial average in situ) for 10 s. The ablation grid was 10 × 5 with spacing between lesions of 2 mm for the linear stage and 3° for the angular stage. The plane is perpendicular to the ultrasonic beam. (C) The plane is parallel to the ultrasonic beam.

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