High intensity therapeutic ultrasound (hitu) histotripsy systems, methods and treatment navigation software

A histotripsy treatment planning system, comprising:

• a robotic positioning system;
• an ultrasound transducer array disposed on the robotic positioning system, the ultrasound transducer array being configured to deliver ultrasound pulses into a subject;
• one or more processors operatively coupled to the robotic positioning system and the ultrasound transducer array;
• and
• a non-transitory computing device readable medium having instructions stored thereon for generating a treatment plan for ultrasound therapy, wherein the instructions are executable by the one or more processors to cause the ultrasound system to:
• receive first movement coordinates from the treatment plan for robotically moving a therapy transducer to a first treatment location within a subject;
• control the robotic positioning system to move the therapy transducer to the first treatment location based on the first movement coordinates with a first acceleration value, a first deceleration value, and a first maximum velocity such that a first velocity of the therapy transducer is 0 when a focus of the therapy transducer arrives at the first treatment location;
• receive second movement coordinates from the treatment plan for robotically moving a therapy transducer from the first treatment location to a second treatment location within the subject;
• and
• control the robotic positioning system to move the therapy transducer to the second treatment location based on the second movement coordinates with a second acceleration value, a second deceleration value, and a second maximum velocity such that a second velocity of the therapy transducer is 0 when a focus of the therapy transducer arrives at the second treatment location.