Advanced RF therapeutic antenna probes, their systems and usage methods are disclosed. The therapeutic antenna probe comprising an RF power transmitting cable by which a dipole antenna assembly is formed and a sheath that includes the dipole antenna assembly therein. The RF power transmitting means comprises at least a central conductor, a cylindrical dielectric insulator formed around the central conductor and an outer conductor all of which are formed to be the dipole antenna assembly. A dipole antenna which is a member of the dipole antenna assembly is composed of the first and second electrodes which are formed by a part and another part of the outer conductor, respectively, and electrically connected to the one central conductor and an isolating means which is formed between the first and the second electrodes. The sheath is made of a hard material for at least a head element having a sharp edge.