B-mode image of a subcutaneous abscess (a) before and (b) after BH treatment. The treated area (labeled ‘T’) looks qualitatively different than the untreated region (labeled ‘U’). The treatment zone was scanned with the robotic arm with 3-mm spacing between focal spots, 1 min per location, by observing and maintaining the cavitation cloud within the abscess. (c) Reconstructed volume of the abscess and treated region. The abscess volume with capsule (white) was 213.7 cc, while the core volume (yellow) was 127.7 cc, and the treatment zone (red) was 61.2 cc. (d) Shearwave elastography image overlaying a portion of the treated and untreated regions. The untreated region’s stiffness was 4.5 kPa, while the treated region measured 1.2 kPa. Scale bars represent 1 cm.