I. Introduction
Thermal ablation [1], [2] has been a popular method for cancer treatment or other treatments since its advent. This method involves rapid and local heating of the tumor or tissue to above 60 °C to cause necrosis of tumor cells. It is a simple therapy with relative few side effects and fewer complications. Recently, thermal ablation has been combined with minimally invasive surgery (MIS) [3], [4] as a new approach for treating cancer or other organ-enlargement diseases. For example, radio frequency ablation (RFA) [5]–[7] and microwave ablation [8]–[10] have all been applied in a variety of cancer treatments such as organ resection surgery and necrosis of tumor cells in internal medicine. Briefly, RFA employs a probe and a power generator to provide the required heating when an alternating electric current passes through the probe with a frequency ranging from 460 to 500 kHz. The temperature of the tissue could be rapidly and efficiently raised to about 100 °C locally such that the tissue ablation occurs. Alternatively, microwave ablation is another treatment approach using thermal ablation in which a probe delivers microwave energy to heat up water molecules in the cells and therefore generate a high temperature to cause ablation in the tissue. Applying RFA or microwave ablation in needle-array layout or large-range tumor treatment, however, is challenging because RFA and microwave ablation probes are expensive. The number of probes that could be simultaneously applied during treatments is thus limited to two to four probes [11], [12], which may hinder their practical applications in large-range treatment or organ-enlargement treatment.