1. School of Mechanical and Power Engineering, East China University of Science and Technology , Shanghai 200237, China
2. Department of Surgery, University of Saskatchewan , Saskatoon, SK S7N 5E5, Canada
3. Department of Mechanical Engineering, University of Saskatchewan , Saskatoon, SK S7N 5A9, Canada
4. Intelligent Energy-Based Tumor Ablation Laboratory, School of Mechatronic Engineering and Automation, Shanghai University , Shanghai 222444, China