I. Introduction
The feasibility of temperature estimation during high intensity focused ultrasound (HIFU) therapy using pulse-echo diagnostic ultrasound data has been demonstrated by Seip et al. [1], [2]. HIFU is a promising therapeutic technique for the treatment of deep localized cancers [3], [4]. However, improved monitoring methods are necessary before HIFU can be clinically useful. Accurate treatments specifically require that temperature elevations in the treatment volume be controlled with appropriate feedback. Over the past decade, several research groups have focused on non-invasive temperature estimation using magnetic resonance imaging [5]–[7] and ultrasonic imaging [2], [8], [9]–[12]. Both of these techniques have their own advantages and limitations. Magnetic resonance imaging of temperature provides quasi-real time three-dimensional temperature maps with a very good localization of the heated region, but is costly to use. In contrast, ultrasound techniques can be easily integrated into HIFU systems with relatively low cost and a high portability.