1. Tumor Ablation Group, CISR Center, East China University of Science and Technology, Shanghai 200237, China e-mail:
2. Mem. ASME Division of Biomedical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada e-mail:
3. Department of Surgery, University of Saskatchewan, Saskatoon, SK S7N 0W8, Canada e-mail:
4. Division of Vascular and Interventional Radiology, Department of Medical Imaging, University of Toronto, Toronto, ON M5T 1W7, Canada e-mail:
5. Fellow ASME Department of Mechanical Engineering, University of Saskatchewan, Saskatoon, SK S7N 5A9, Canada e-mail: