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High intensity focused ultrasound (HIFU) is a widely used technique capable of providing non-invasive heating and ablation for a wide range of applications. However, the major challenges lie on the determination of the position and the amount of heat deposition over a target area. In order to assure that the thermal area is confined to tumor locations, an optimization method should be employed. Sequential quadratic programming and steepest gradient method with closed-form solution have been previously used to solve this kind of problem. H
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