Fig. 1From: A focused ultrasound treatment system for moving targets (part I): generic system design and in-silico first-stage evaluationMotion compensation: Decoupling the FUS control from the image update rate. The forward loop a) restricts the FUS control loop to run with the same rate as the monitoring imaging. To decouple both loops, in b), a motion model is introduced allowing for a flexible choice of control update rateBack to article page