A high intensity focused ultrasound positioning mechanism (100, 200, 310) for positioning a high intensity focused ultrasound transducer (292, 304), the mechanism comprising:—a positioning plate (108, 308) adapted for receiving the high intensity focused ultrasound transducer； -a mechanism support (174) adapted for mounting the positioning mechanism；—a plurality of rods (110, 112, 114, 116, 118, 120, 210, 212, 214, 216, 218, 220), wherein each rod has a first end and an second end, wherein the first end of each rod forms a separate ball joint (122, 124, 126, 128, 130, 132, 222, 224, 226, 228, 230, 232) with the positioning plate； and—a plurality of linear drives (146, 148, 150, 246, 248, 250, 252, 254), wherein the plurality of linear drives are mounted to the mechanism support, wherein each of the linear drives comprises a drive block (164, 166, 168, 264, 266, 268, 270, 272), wherein the second end of each of the plurality of rods forms a separate ball joint (134, 136, 138, 140, 142, 144, 234, 236, 238, 240, 242, 244) with one of the drive blocks.
