An ablation device and method for monitoring and controlling temperature, pressure and position of an ablation probe for precise destruction of unwanted one of nerve tissue and soft tissue. The ablation device includes a probe configured to generate pressure and temperature for ablating the unwanted soft tissue and nerve tissue The device can also include a monitoring device, an imaging device, and a computer system. The probe includes at least two prongs, the at least two prongs each including distal ends, the distal ends being configured to define, in combination, a probe geometry substantially matching an anatomical tissue geometry of the unwanted one of nerve tissue and soft tissue.