Hifu applications with feedback control

High intensity focused ultrasound heating is provided by applying therapeutic ultrasonic waves using an array of transducers. Cavitation is detected by using some or all of the transducers in the array to detect ultrasonic waves emanating from or reflected from the patient's body or the interface. A feedback signal is generated based on such detection. If the feedback signal indicates the presence of cavitation, the therapeutic ultrasonic waves are terminated or altered. Obstacles to ultrasound transmission, such as bony structures or bubbles at the interface between the transducer array and the patient can be detected using the same transducers.