“…Ultrasound propagation through tissues with significant impedance change is subject to undesirable effects at interfaces, including absorption, reflections, standing waves, and focal point shift. The higher energy absorption rate of the bone, approximately a factor of 12 compared to the soft tissues [11] may induce substantial heating in the near field (e.g rib cage) and may even propagate into skin burns or infiltrating thermal lesions [12] , [13] , [14] . Breathing motion has been addressed by numerous reports, for instance using two-dimensional ultrasound imaging [15] , [16] , [17] or a one-dimensional MR navigator [18] .…”