A system for ablation treatment of tissue, comprising: an ablation probe for treating a tissue of interest with at least one of RF ablation, cryo-ablation, microwave ablation, ultrasound ablation, or other thermal or non-thermal ablation; a planning component for calculating a three-dimensional treatment plan including a plurality of desired ablation probe placement positions and orientations and a plurality of estimated ablation volumes to achieve a composite ablation volume that will treat the entire planned target volume; a navigation component comprising a tracking system for spatially tracking the ablation probe and providing treatment instructions to an operator based on the three-dimensional treatment plan; an imaging component for obtaining planning and treatment images of the tissue to be treated; and a feedback component for determining actual probe position and orientation using the navigation component or imaging component, and for determining actual ablation volume based on treatment images provided by the imaging component, and feeding the actual probe position and orientation and an actual ablation volume during treatment to the planning component, wherein the planning component is configured to determine a treatment iteration based on the treatment plan, the actual probe position and orientation and an actual ablation volume, the treatment iteration including at least one of a desired next probe position and orientation and a desired next ablation volume, wherein the navigation component is configured to provide revised treatment instructions to the operator based on the treatment iteration until treatment is completed according to the desired planned target volume, wherein the the feedback component is configured to obtain information including imaging feedback and tracking feedback about the actual probe location, and to provide the information including both the imaging feedback and tracking feedback to the planning component to update the three-dimensional treatment plan, wherein the feedback component is further configured to use the information to update and improve registration between the imaging component and the tracking system, wherein the planning component is configured to receive the information and update the plan by subtracting a measured ablation size and shape at a measured ablation position from an initially segmented planned target volume, and compute a new plan for a remaining part of the planned target volume, and wherein the planning component is configured to utilize center positions of individual ablations for calculating the three-dimensional treatment plan. an ablation probe for treating a tissue of interest with at least one of RF ablation, cryo-ablation, microwave ablation, ultrasound ablation, or other thermal or non-thermal ablation; a planning component for calculating a three-dimensional treatment plan including a plurality of desired ablation probe placement positions and orientations and a plurality of estimated ablation volumes to achieve a composite ablation volume that will treat the entire planned target volume; a navigation component comprising a tracking system for spatially tracking the ablation probe and providing treatment instructions to an operator based on the three-dimensional treatment plan; an imaging component for obtaining planning and treatment images of the tissue to be treated; and a feedback component for determining actual probe position and orientation using the navigation component or imaging component, and for determining actual ablation volume based on treatment images provided by the imaging component, and feeding the actual probe position and orientation and an actual ablation volume during treatment to the planning component, wherein the planning component is configured to determine a treatment iteration based on the treatment plan, the actual probe position and orientation and an actual ablation volume, the treatment iteration including at least one of a desired next probe position and orientation and a desired next ablation volume, wherein the navigation component is configured to provide revised treatment instructions to the operator based on the treatment iteration until treatment is completed according to the desired planned target volume, wherein the the feedback component is configured to obtain information including imaging feedback and tracking feedback about the actual probe location, and to provide the information including both the imaging feedback and tracking feedback to the planning component to update the three-dimensional treatment plan, wherein the feedback component is further configured to use the information to update and improve registration between the imaging component and the tracking system, wherein the planning component is configured to receive the information and update the plan by subtracting a measured ablation size and shape at a measured ablation position from an initially segmented planned target volume, and compute a new plan for a remaining part of the planned target volume, and wherein the planning component is configured to utilize center positions of individual ablations for calculating the three-dimensional treatment plan.