A minimally-invasive fluid-cooled insertion sleeve assembly, with an attached balloon and distally-located penetrating tip, into which sleeve any of a group comprising a rigid rod, a microwave-radiator assembly and an ultrasonic-imaging transducer assembly may be inserted, constitutes a probe of the system. The sleeve assembly comprises spaced inner and outer plastic tubes with two fluid channels situated within the coaxial lumen between the inner and outer tubes. The fluid coolant input flows through the fluid channels into the balloon, thereby inflating the balloon, and then exits through that coaxial lumen. An alternative embodiment has no balloon. The method employs the probe for piercing sub-cutaneous tissue and then ablating deep-seated tumor tissue with microwave-radiation generated heat.