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Results of five trials performed for histotripsy stone erosion at 100 Hz PRF without (top panel) and with (bottom panel) the incorporation of bubble removal (BR) pulses. In each case material was eroded from the surface of the stone in the region targeted by the histotripsy focus. However, the introduction of bubble removal pulses allowed for an erosion rate of 21.1 ± 5.6 mg/min over the 3.3 minute treatment duration, in comparison to 2.8 ± 0.7 mg/min for histotripsy-only.
