A framework for continuous target tracking during MR-guided high intensity focused ultrasound thermal ablations in the abdomen

Table 2 Average convergence time per pair of images of the registration algorithms included by the proposed motion compensation framework

Step	Average convergence time [ms]
Estimation of 3D drifts (RS #1 in Fig. 1)	15000
Estimation of residual respiratory motion (RS #2 in Fig. 1)	80
Registration between the 2D reference image and its preceding 3D anchor (RS #3 in Fig. 1)	400

ISSN: 2050-5736