High intensity focused ultrasound (HIFU) has a potential for a treatment of stones or tumors. In HIFU therapy, respiratory organ motion makes it difficult to focus HIFU on an affected area, and increases the risk of damaging healthy tissues around the target. In this paper, we proposed the method for tracking a respiratory organ motion, in which we use a visual feedback and a prediction model of a respiratory organ motion, and realize high accurate robot position control. The prediction model is made from the most recent organ motion, and always updated. In the experiments, respiratory kidney motion of two subjects can be successfully tracked with an accuracy of 0.88 mm.