Abstract: The present application discloses a technique for targeting therapeutic thermal energy to human tissue that is subject to displacement during a respiratory cycle using ARMA modeling. It discloses using an ARMA treatment of MRI tracking data of salient features of the tissue of interest to predict the spacial position of the portion of the tissue to be treated and using this prediction to guide the application of the thermal energy. It also discloses that this technique is particularly useful when the tissue of interest undergoes elastic deformation in a respiratory cycle and high energy focused ultrasound (HIFU) is used to ablate diseased tissue such as a cancerous tumor.