1. School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, China e-mail:
2. Department of Surgery, University of Saskatchewan, Saskatoon SK S7N 0W8, Canada e-mail:
3. Division of Vascular and Interventional Radiology, Department of Medical Imaging, University of Toronto, Toronto, ON M5T 1W7, Canada e-mail:
4. Fellow ASME School of Mechanical and Power Engineering, East China University of Science and Technology, Shanghai 200237, China e-mail:
5. Mem. ASME Tumor Ablation Group, Biomedical Science and Technology Research Center, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200444, China e-mail: