a robotic positioning system;

an ultrasound therapy transducer array connected to the robotic positioning system;

a generator operatively coupled to the ultrasound therapy transducer array, the generator and ultrasound therapy transducer array being configured to deliver histotripsy pulses into a subject to generate cavitation in the subject;

at least one processor operatively coupled to the robotic positioning system and the generator, the at least one processor being configured to control the robotic positioning system and the generator to provide histotripsy therapy to the subject according to a treatment plan that includes a plurality of treatment volumes within a target tissue volume of the subject by:

controlling the robotic positioning system to mechanically position a focus of the ultrasound therapy transducer array within a first of the plurality of treatment volumes;

controlling the generator to deliver histotripsy pulses with the ultrasound therapy transducer array to form a cavitation bubble cloud at the focus;

controlling the generator to electronically steer the cavitation bubble cloud through the first of the plurality of treatment volumes; and

repeating controlling the robotic positioning system and the generator to mechanically position the focus, controlling the generator to form the cavitation bubble cloud at the focus, and controlling the generator to electronically steer the focus for each of the plurality of treatment volumes.