Fig. 11

Validation of the proposed motion compensation framework under clinical conditions. Outcome of the MRg-HIFU liver ablation in animal experiment #3. a: Down-propagated/Motion corrected sonication locations (blue ellipses) overlapped with the non-registered lethal thermal dose (in red). b: Originally planned sonication locations (blue ellipses) overlapped with the non-registered lethal thermal dose (in red). c: Originally planned location of the sonications (blue ellipses) overlapped with the motion corrected lethal thermal dose (in green). d: The initially planned sonication cells (blue ellipses) overlaid on a coronal (left) and a sagittal (right) slice of the registered contrast-enhanced T1w image. Figures a, b and c all showcase a coronal (left image) and a sagittal (right image) slice through the 3D planning image acquired at the beginning of the therapy as background