In recent years, noninvasive thermal treatment by using high-intensity focused ultrasound (HIFU) has high potential in tumor\ntreatment. The goal of this research is to develop an ultrasound imaging-guided robotic HIFU ablation system for tumor\ntreatment. The system integrates the technologies of ultrasound image-assisted guidance, robotic positioning control, and HIFU\ntreatment planning. With the assistance of ultrasound image guidance technology, the tumor size and location can be\ndetermined from ultrasound images as well as the robotic arm can be controlled to position the HIFU transducer to focus on\nthe target tumor. After the development of the system, several experiments were conducted to measure the positioning accuracy\nof this system. The results show that the average positioning error is 1.01mm with a standard deviation 0.34, and HIFU ablation\naccuracy is 1.32mm with a standard deviation 0.58, which means this system is confirmed with its possibility and accuracy.
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