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Impact of breathing motion on focused ultrasound liver ablation. 4D MRI data (A at maximal exhalation, B at maximal inhalation) is used to create deformation fields that are registered to the anatomical model, thus functionalizing it with breathing motion (C). Compared to the temperature increase when neglecting motion (D), tracking compensation (E) can double the theoretical temperature increase, result in better focusing, and reduce collateral damage.
