Table 1.

Experimental results: motion compensation errors with HIFU irradiation

Experiment No.	$E_{Y-f_d}^{\mathit{RMS}}$	$E_{f_d-f_r}^{\mathit{RMS}}$	$E_{Y-f_r}^{\mathit{RMS}}$
1	0.77	1.16	1.74
2	0.86	1.15	1.78
3	0.80	1.16	1.71
4	0.77	1.17	1.72
5	0.81	1.18	1.76
6	0.76	1.13	1.69
Average	0.80	1.16	1.73