An extremely robust US based focal lesion servo system incorporating a servo recovery algorithm for a NIUTS.

Norihiro Koizumi, Takakazu Funamoto, Joonho Seo, Hiroyuki Tsukihara, Hiroyuki Fukuda, Hideyo Miyazaki, Kiyoshi Yoshinaka, Takashi Azuma, Naohiko Sugita, Yukio Homma, Kazushi Numata, Yoichiro Matsumoto, Mamoru Mitsuishi

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