“…Considering the thickness and depth of the thyroid gland, the robotic system, with the appropriate application of power, can controllably ablate thyroid nodules without affecting nearby organs. Moreover, due to the thin nature of the gland, a Y-axis for adjusting the focusing height of the transducer and providing motion along the Y imaging plane of the MRI, as previously employed in other MRgFUS robotic systems,71,74,[76][77][78]80 was not required herein. Additionally, the formed lesions provided a visual representation of the accuracy of robotic motion through the formation of almost square overlapping lesions as well as uniformly distant discrete lesions.F I G U R E 1 1 (A) Axial thermal maps acquired at different timepoints during sonications at an acoustic power of 45 W for a sonication time of 60 s at 30 mm focal depth as overlayed on the magnitude images of the agar-based thyroid phantom, and (B) Timeseries temperature increase recorded in the focal spot within the agar-based thyroid phantom during sonications.…”