1. Intelligent Energy-based Tumor Ablation Laboratory School of Mechatronic Engineering and Automation Shanghai University Shanghai 200444 China
2. Department of Mechanical Engineering University of Saskatchewan Saskatoon SK S7N5A9 Canada
3. Division of Biomedical Engineering University of Saskatchewan Saskatoon SK S7N5A9 Canada
4. School of Mechanical and Power Engineering East China University of Science and Technology Shanghai 200237 China
5. Department of Civil and Mechanical Engineering Purdue University Fort Wayne Fort Wayne IN 46805 USA