88 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023 1 2 KUKA Robot Coupling Balloon Phantom HIFU Beam Selected Focus Selected ROI x = -10 mm HIFU Transducer x = 0 mm x = +10 mm 3 US Image Coupling Balloon Motorized Slide Acoustic Absorber Phantom (a) +10 -10 +10 -10 0.7 0.65 0.6 0.55 0.5 0.45 0.4 2.2 2.1 2 TL 1.9 1.8 1.7 1.6 1.5 1.4 Position From Learning Module Position From Motorized Slide 2 HIFU Origin 1 0246 8101214161820 Time (s) Boxplot Legend Median 25-75th Percentiles Across 10 Trials Tracking (T) Learning (L) TL (b) FIGURE 7. The dry lab validation. (a) The overall experimental setup. (b) The motion tracking and learning. The left side shows the error analysis, while the right side shows the motion compensation in terms of the robot control and its effect on the echographic images. (Continued ) Pivot Point HIFU Focus Pivot Point HIFU Focus Position From Tracking Module Position From Motorized Slide 2 1 1 0246 8101214161820 Time (s) 3 HIFU Origin HIFU Origin Pivot Point HIFU Focus 2 3 3 Robotic Control Motion Tracking and Learning Analysis Experimental Setup Error Analysis