I. Introduction
High Intensity Focused Ultrasound (HIFU) has become a widely used clinical tool for the thermal ablation of tissues, such as cancerous tumors [1]. It allows for a non-invasive or minimally-invasive method for treatment, often performed in a single treatment session, which leads it to be a desirable treatment option for patients as well as clinicians. One clinical application of HIFU is treatment of the prostate using an endocavitary approach [2], [3]. The most common method of using HIFU to treat prostate cancer is the complete thermal ablation of the entire prostate gland, however, a more desirable treatment, and the current trend, is towards a focal treatment where only a portion of the prostate is treated [4], [5]. There is evidence that focal HIFU therapy can be a safe alternative to the treatment of the entire prostate in cases where the tumors are localized [6]–[8]. This evidence showcases a need for improved focal therapy devices which have the ability to accurately localize treatment under realtime image guidance. Any modifications to current tools that improve upon the accuracy of HIFU targeting or imaging, will help to advance future generations of focal treatments. In order to accomplish this goal improved imaging and detection of the tumor area is needed along with accurate, finely tunable, generation of thermal lesions.