Histotripsy systems and methods

An ultrasound therapy system, comprising;

• a robotic positioning system;
• an ultrasound therapy transducer array connected to the robotic positioning system;
• a generator operatively coupled to the ultrasound therapy transducer array, the generator and ultrasound therapy transducer array being configured to deliver histotripsy pulses into a subject to generate a cavitation bubble cloud in the subject;
• at least one processor operatively coupled to the robotic positioning system and the generator, the at least one processor being configured to control the robotic positioning system and the generator to provide histotripsy therapy to the subject according to a treatment plan that includes a target tissue volume divided into a plurality of treatment volumes arranged within a plurality of radial layers by:
• controlling the robotic positioning system to move a focus of an ultrasound therapy transducer array to a first of the plurality of treatment volumes within a first radial layer of the plurality of radial layers;
• controlling the generator to deliver histotripsy pulses with the ultrasound therapy transducer array to form a cavitation bubble cloud in the first of the plurality of treatment volumes with the ultrasound therapy transducer array;
• controlling the robotic positioning system and the generator to move the focus in a spiraling fashion and form cavitation bubble clouds through the remaining plurality of treatment volumes in the first radial layer;
• controlling the robotic positioning system to transition from the first radial layer to a second radial layer of the plurality of radial layers;
• moving the focus in a spiraling fashion and forming a cavitation bubble cloud through the remaining plurality of treatment volumes in the second radial layer;
• and
• repeating controlling the robotic positioning system and the generator to move the focus and deliver histotripsy pulses for each of a remaining plurality of radial layers.