Various embodiments provide systems and methods of treating damaged cartilage. In some embodiments, a method can include targeting the damaged cartilage in region of interest, directing therapeutic ultrasound energy to the damaged cartilage, ablating at least a portion of the damaged cartilage and improving the damaged cartilage. The method can include focusing therapeutic ultrasound energy to create at least one lesion in a portion of the damaged cartilage. The method can also include imaging the damaged cartilage. The method can include increasing blood perfusion to the region of interest. The method can include welding together the damaged cartilage with therapeutic ultrasound energy. The method can include cutting the damaged cartilage and removing it from the joint with therapeutic ultrasound energy. The method can include smoothing the cartilage with therapeutic ultrasound energy. The method can include regenerating cartilage.
