1. A method to generate a therapeutic ultrasound wave from a therapeutic ultrasound irradiation device, the method comprising: acquiring a medical image comprising anatomical information about a subject using a processor; calculating one or more characteristics of a heterogeneous tissue in the subject affecting propagation of the therapeutic ultrasound wave based on the medical image using the processor; determining a parameter of the therapeutic ultrasound wave, using the processor, to create a focal point on the subject using the one or more calculated characteristics; and generating the therapeutic ultrasound wave at the therapeutic ultrasound irradiation device, using a signal from the processor, the signal determined according to the determined parameter, wherein the determining of the parameter comprises: setting a particle velocity of the therapeutic ultrasound wave; calculating, using the processor, a sound pressure at the focal point that the therapeutic ultrasound wave propagates through the heterogeneous tissue, based on the one or more calculated characteristics of the heterogeneous tissue; determining, using the processor, whether the sound pressure satisfies a predetermined pressure condition; and resetting, using the processor, the particle velocity of the therapeutic ultrasound wave, in response to the sound pressure not satisfying the predetermined pressure condition.