A control framework for the non-invasive ultrasound theragnostic system - Norihiro Koizumi; Joonho Seo; Yugo Suzuki; Lee, Deukhee; Kohei Ota; Akira Nomiya; Shin Yoshizawa; Kiyoshi Yoshinaka; Naohiko Sugita; Yoichiro Matsumoto; Yukio Homma; Mamoru Mitsuishi