I. Introduction
High-intensity focused ultrasound (HIFU) has become an attractive clinical strategy for thermal ablation of cancerous tumors in several organs [1], [2], [3], [4], [5], [6], [7]. This strategy relies on the principle of applying a focused, high-intensity ultrasound (US) wave on a target tissue over several seconds, thus increasing its local temperature to levels capable of inducing coagulation and necrosis of the tissue. This approach can be noninvasive since the focused ultrasound procedure can be designed to eliminate or minimize heat deposition and damage in intermediary tissues located in the path between the ultrasound device and the target. As such, most HIFU devices used in clinic are designed to be applied via endocavitary or extracorporeal approaches. These advantages combine to reduce the morbidity of the treatment while facilitating the recovery of patients who only endure a sedative procedure. One of the first and most widely employed clinical applications of HIFU thermal ablation therapy is for the treatment of localized prostate cancer. Indeed, tens of thousands of prostate cancer patients have been treated worldwide using a standard global treatment strategy: the ablation of the full prostate gland by HIFU, under real-time ultrasound guidance (USgHIFU) [8], [9]. For the treatment of localized cancers, however, a more desirable approach involves focal strategies capable of selectively ablating a portion of the prostate targeted on the tumors, which can provide a safe alternative to the treatment of the entire organ. Under certain conditions, more focal strategies are currently being explored such as hemiablations, which consist of treating about half of the prostate volume containing all tumors with security margins. Such strategies require locating properly all tumor sites for appropriate treatment planning. Hemiablations are thus currently performed by first acquiring MR images of the prostate prior to HIFU ablation and subsequent registration of these images with real-time ultrasound imaging guidance during treatment. As a result, accurate and precise ablation of tumor regions becomes indispensable requirements for the optimization and success of the treatment. Such requirements are highly dependent on high-resolution imaging along with spatial refinement of the treated area.