> and we're not at sub-millimeter precision yet ... out of curiosity, why not? Also, do you need MRI-guided or can one just use a much higher frequency ultras

> and we're not at sub-millimeter precision yet ... out of curiosity, why not? Also, do you need MRI-guided or can one just use a much higher frequency ultrasound to see where it's targeting? Regardless, seems like a classic RL problem (presumably some sort of ~ms level cycle of low-power targeting then short burst of power).