Abstract: One embodiment is directed to a minimally invasive system for treating a targeted tissue structure of a patient, comprising: an electromechanical support assembly having a proximal portion and a distal portion; a computing system operatively coupled to the electromechanical support assembly; and a HIFU treatment transducer array coupled to the distal portion of the electromechanical support assembly and operatively coupled to the computing system; wherein the computing system is configured to operate the electromechanical support assembly to control a position of the transducer assembly relative to the patient such that a treatment focus of the HIFU treatment transducer array is aligned to treat at least a portion of the targeted tissue structure of the patient, and to operate the HIFU treatment transducer array to controllably create a pulsatile wavefront of ultrasound radiation directed at the treatment focus, the pulsatile wavefront configured to produce one or more vapor bubbles within the targeted tissue

Abstract: A system for displaying enhanced reality images of a body includes a fiducial marker patch, an external medical imaging system, a camera, a tool, a controller, and a display. The fiducial marker is configured to be placed on the body. The tool is configured to be inserted into the body for a medical procedure. The controller is configured to develop 2D or 3D images of the tool positioned within the body in real time based upon images from the external medical imaging system and the camera. The display is configured to display the 2D or 3D images in real time.