Abstract: Simulation software and planning tools are provided that can simulate treatment, allowing a user to identify preferred poses or positions of a histotripsy therapy transducer array for a given treatment location. The planning tools can identify obstructed transducer elements for a given pose/position, and can provide pressure simulations to estimate driving voltages required to generate cavitation at the treatment location. A digital treatment plan made with the planning tool can transferred to a histotripsy system for use during the therapy procedure. A histotripsy therapy system configured for the treatment of tissue is provided, which may implement the digital treatment plan from the simulation software and planning tools.