Cooperative irradiation device

Abstract

An irradiation device (10) configured to irradiate a target (C) includes: a 6-axis robot (12); an irradiation system (20) positioned at the free end (14) of the 6-axis robot and including a microwave frequency source (21) and a radiation source (22) supplied by the microwave frequency source (21); a manipulator (30) secured to the radiation source (22); at least one load sensor (31) placed between the manipulator (30) and the 6-axis robot (12); and a control-actuation unit (32) configured to receive information from the load sensor (31) and control the 6-axis robot (12) based on the information received from the load sensor (31).

Description

Technical Field

[0001] This application relates to a synergistic irradiation device, for example, for radiotherapy.

[0002] This device is also known as a "cobot". Background Technology

[0003] External beam radiation therapy (OPR) or intraoperative radiotherapy (IORT) is a localized approach to treating cancer. ORT, along with surgery, is one of the most common cancer treatments and can lead to significant remission on its own. ORT can be used alone or in combination with surgery and chemotherapy. The indications for ORT are related to the type of tumor, its location, stage, and the overall condition of the target (usually the area to be treated in the patient). In some cases, ORT has the advantage of being administered on an outpatient basis because the treatment course can be shorter and the secondary effects are less than those of chemotherapy.

[0004] Therefore, radiotherapy uses ionizing radiation (X-rays, electrons, protons, etc.) to destroy cancer cells by affecting their regenerative capacity. Irradiation aims to destroy all tumor cells while protecting healthy surrounding tissue.

[0005] However, for some types of cancer, treatment with X-rays presents challenges, as the tumor may be located very close to organs that are preferably protected from radiation.

[0006] Furthermore, it has become apparent that delivering very high doses over very short periods (typically less than a second) is far less harmful to healthy tissues than delivering the same dose, or even fewer doses, over longer periods (i.e., for conventional treatment modalities, a few seconds or even minutes). This phenomenon is described, for example, in the paper “The Advantage of FLASH Radiotherapy Confirmed in Mini-pig and Cat-cancer Patients,” Marie-Catherine Vozenin et al., Clin Cancer Res 2018, American Association for Cancer Research.

[0007] Specifically, this treatment modality is designated as "flash radiotherapy".

[0008] Therefore, rapid radiotherapy can produce the same therapeutic effect as conventional radiotherapy while limiting potential undesirable side effects.

[0009] Furthermore, rapid radiotherapy allows for the avoidance of premature tumor removal, which is particularly convenient if the tumor is inoperable (e.g., when the tumor is located near the patient's carotid artery or pancreas, where the risk of affecting the nervous system is too great for surgery).

[0010] Therefore, rapid radiotherapy makes it possible to treat a wider variety of tumors, especially those that are usually inoperable (e.g., by conventional means, such as by scalpel).

[0011] It is also necessary to accurately deliver, measure, and / or control high doses of ionizing radiation administered over very short periods of time. Inappropriate control of the dose and / or the dose rate absorbed by the target can lead to the destruction of healthy cells, tissues, or organs, and the resulting secondary effects can have detrimental effects on organs at risk in some cases.

[0012] For example, document EP 3071292 describes an irradiation device capable of using a rapid mode for radiotherapy and / or radiobiology using ionizing radiation. Therefore, the device includes an ion or electron beam linear accelerator (commonly referred to as a "LINAC") and control and actuation electronics capable of generally stopping the emission of ionizing radiation once a dose prescribed by the operator has been reached. More specifically, the device includes an irradiation apparatus using ionizing radiation configured to deliver an ionizing radiation dose of at least 0.25 Gy (Gray), preferably 10 Gy, in a precise and controlled manner over a very brief instant (i.e., less than 100 ms, possibly less than 1 ms, possibly less than 100 μs, possibly less than 0.1 μs) within an energy range including 1 MeV to 50 MeV. It also relates to an irradiation device using ionizing radiation, which is equipped with a power pulse control system capable of generating an energy particle beam that is adjustable in the range of 1 MeV to 50 MeV, pulsed at a desired frequency (f), and with an adjustable pulse duration (d), and capable of generating energy particle beams from a few centimeters... 2 (square centimeters) to 10cm 2 Delivering an absorbed dose rate of at least 250 Gy / s, possibly 500 Gy / s, or even at least 1000 Gy / s in the exposure field.

[0013] In practice, the beam emitted by a radiation source (such as LINAC) must be applied relative to the target at a specific angle and at a specific distance.

[0014] There are conventional radiotherapy devices, for example, that include a 6-axis robot (one end of which supports a LINAC).

[0015] Typically, the physician positions the applicator on the target (on the patient, or, depending on the situation, partially inside the patient's body) and holds it by hand. Next, another physician moves the device to connect the radiation source at the LINAC exit to the applicator. Then, everyone leaves the room where the patient was located, and the radiation is activated to perform the treatment. For this purpose, the human-machine interface (MMI) is usually located in a room called the "control room," which is adjacent to the room where the patient and the irradiation device are located, called the "operation room." The operation room is then equipped with a radiation shield.

[0016] For example, document US2019 / 0314645 describes a radiotherapy device that includes a 6-axis robot configured to align a treatment head with a fixed applicator to an operating table.

[0017] Therefore, since LINAC must be oriented relative to the target (and thus relative to the applicator) according to a specific prescription, and the device is very heavy and difficult to manipulate, the process of manipulating the irradiation device is very long and delicate.

[0018] Therefore, automated devices have been developed, such as devices capable of detecting targets, or devices guided by external systems, or devices that are remotely controlled (e.g., via joysticks).

[0019] However, such devices are not only difficult to control remotely, but it is also generally more pleasant and practical for physicians to be able to directly manipulate the irradiation device.

[0020] Furthermore, in order to perform rapid radiotherapy, a greater available power than conventional radiotherapy is required, resulting in a greater weight in the irradiation device, which offsets the ease of operation of the device. Summary of the Invention

[0021] Therefore, the object of the present invention is to provide an irradiation device using ionizing radiation that at least partially overcomes the above-mentioned disadvantages, particularly an irradiation device for radiotherapy and / or radiobiology.

[0022] Therefore, according to a first aspect, an irradiation device configured to irradiate a target in a rapid or conventional mode is provided, comprising:

[0023] - A 6-axis robot, comprising a base and a 6-axis arm, the first end of which is attached to the base and the second end of which is designated as a free end;

[0024] - An irradiation system comprising a microwave frequency source and a radiation source supplied by the microwave frequency source, the irradiation system being positioned at the free end of a 6-axis arm;

[0025] -A control handle that engages with a radiation source;

[0026] - At least one load sensor, which is positioned between the control handle and the 6-axis arm, or may be positioned between the control handle and the radiation source; and

[0027] - Control-actuation unit, which is configured to receive information from the load sensor and control the 6-axis arm based on the information received from the load sensor.

[0028] At least one load sensor converts the load it experiences into an electrical signal.

[0029] The electrical signal measurements sent by the load sensor are converted into radiation source movement and orientation control.

[0030] The load on the sensor in direction X is converted into instructions for moving in direction X with acceleration and velocity depending on the load level (that is, depending on the amplitude of the electrical signal sent by the load sensor in direction X).

[0031] When two load sensors located on the Y-axis are subjected to different levels of load in the same X-axis, the difference in level constitutes a torque applied according to the direction Z perpendicular to the plane containing the Y-axis and the X-axis, with the load sensors located on the Y-axis.

[0032] This difference in load level causes a difference in the amplitude of the signal sent by the load sensor in the X direction.

[0033] The amplitude difference of this electrical signal is then converted into instructions for rotation about direction Z with acceleration and velocity depending on the difference in load level (that is, the difference in the amplitude of the electrical signals sent by the two load sensors in direction X).

[0034] Therefore, the load sensor can provide feedback control to the irradiation device, thus enabling the irradiation device to form a collaborative robot or "cobot," and the operation of the irradiation device is assisted.

[0035] The device can be operated by one person, for example, whereas it typically requires at least two people to operate a conventional device.

[0036] According to the invention, the sensor is thus able to interpret the physician’s movement intentions and compensate for stress between different interfaces, which provides better ergonomics for the device, i.e., makes the device easier to operate.

[0037] Therefore, for example, the irradiation device is configured to employ at least a usage configuration and a storage and / or relocation configuration, in which the 6-axis arm is in an extended position, and in the storage and / or relocation configuration, the 6-axis arm is in a folded position. In this configuration, the irradiation device is more compact, making it easier to move when needed.

[0038] The illumination device, and more particularly the illumination system, includes a control handle.

[0039] At least one load sensor is placed between the control handle and the 6-axis arm.

[0040] However, if at least one load sensor is placed between the 6-axis arm and the irradiation system, the load transferred is very large, since the irradiation system located at the free end of the 6-axis arm weighs approximately 150 kg.

[0041] Therefore, in a particularly practical example implementation designed to reduce these loads, at least one load sensor is placed between the control handle and the radiation source.

[0042] In an advantageous example embodiment, the irradiation device includes at least two (may be three) load sensors.

[0043] The control handle includes, for example, a fixed wheel or ring; however, it may include any part of a device capable of transferring a load to at least one load sensor to move and orient the radiation source.

[0044] Wheels can, for example, be placed around the exit of a radiation source so as not to block the emitted radiation, thus providing a grip for the physician regardless of their position.

[0045] In the example implementation, the irradiation device specifically enables the execution of rapid therapeutics.

[0046] For example, the aforementioned document EP 3071292 describes in detail a device capable of performing rapid therapy.

[0047] Specifically, maximum radiation power is required for rapid therapy. To maximize available power, the microwave frequency source is therefore positioned as close as possible to the radiation source, which minimizes electromagnetic power loss between the microwave frequency source and the particle beam accelerator cavity, thus providing useful radiation.

[0048] With this invention, it is possible to produce a device capable of delivering more radiation power, thus enabling rapid therapy, without being more bulky than known prior art systems.

[0049] Furthermore, due to the relatively high weight, those skilled in the art are prejudiced against positioning both the microwave frequency source and the LINAC-type radiation source in the same assembly fastened to the end of the arm.

[0050] In fact, in existing devices, microwave frequency sources are often used as counterweights for radiation sources; this arrangement promotes the balance of the device, but leads to high losses of electromagnetic power at the microwave frequency.

[0051] However, since a 6-axis arm has since been available, it has actually been proven feasible to position both the microwave frequency source and the radiation source at the end of the arm.

[0052] However, on the other hand, it is preferable to limit the overweight that may be caused by other components at the end of the arm.

[0053] Here, a microwave frequency source refers to an electromagnetic wave source configured to generate an electromagnetic field with a frequency of at least 300 MHz, preferably in the S-band (i.e., between 2 GHz and 4 GHz) of electromagnetic frequencies, or in the C-band (i.e., between 4 GHz and 8 GHz), or for example in the X-band (i.e., between 8 GHz and 12 GHz).

[0054] The irradiation system is configured, for example, to emit ionizing radiation and deliver at least one dose (at least 20 Gy, for example 30 Gy) of such ionizing radiation in less than 100 ms or less than 1 μs.

[0055] According to an advantageous example implementation, the radiation source includes a linear accelerator for electrons, known as LINAC.

[0056] The irradiation system is configured, for example, to emit ionizing radiation by means of pulses with a repetition frequency (f) between 10 Hz and 1 kHz, each pulse having a duration (d) between 10 ns and 100 μs, for example.

[0057] For example, here, the irradiation system is configured to deliver a dose per pulse ranging from 1 Gy to 10 Gy.

[0058] In advantageous example implementations, the radiation source may include, for example, an ultrafast sensor, such as a solid-state sensor of silicon carbide or diamond, or a sensor having one or more ionization chambers, or if the ionizing radiation is radiation of charged particles such as electrons or protons, the ultrafast sensor may be, for example, a current transformer (i.e., a Bergoz brand current transformer).

[0059] Here, the ultrafast sensor is preferably positioned at the exit of the source of the ionizing radiation beam so that it is passed through by the entire radiation stream from the radiation source.

[0060] In this way, the ultrafast sensor is configured to monitor the radiation dose delivered to the target.

[0061] Here, the ultrafast sensor is a sensor configured to detect ionizing radiation dose within less than 0.01 ns and at a dose flux of at least 0.01 Gy / s, or even 25 Gy / s, or even 50 Gy / s, or preferably even 250 Gy / s, another possibility being 500 Gy / s or even 1000 Gy / s.

[0062] This sensor enables the detection of the dose of ionizing radiation generated within less than 0.01 ns and at a dose flux of at least 0.01 Gy / s, or even 25 Gy / s, or even 50 Gy / s, or preferably even 250 Gy / s, or possibly 500 Gy / s or even 1000 Gy / s.

[0063] In an advantageous example embodiment, the irradiation system includes a housing in which a microwave frequency source and a radiation source are placed, and an operating handle is secured to the housing; at least one load sensor is inserted between the operating handle and the surface of the housing.

[0064] According to an advantageous option, the base also includes a stabilization system configured to compensate for the weight introduced by the irradiation system positioned at the free end of the 6-axis arm.

[0065] The stabilization system allows for better compensation of lever or cantilever effects caused by the positioning of the radiation system, and enables greater access to the 6-axis arm while preventing device tilting.

[0066] The stabilization system includes, for example, at least one leg.

[0067] According to its advantages, the stabilization system also includes a retractable plate configured to take on an extended position and a retracted position, the plate being opposite to the radiation when in the extended position.

[0068] Such a plate, for example, allows radiation to be prevented from passing through a partition structure, such as the floor of the room where the device is located, or preferably protects any other object from radiation.

[0069] The base may also include, for example, a power source for an ionizing radiation source, to enable the device to operate in a fast mode.

[0070] Here, "power source" refers to a high-voltage power source.

[0071] Alternatively, the base may also include an omnidirectional movement system, such as wheels.

[0072] Therefore, the irradiation device can be moved in any direction.

[0073] In an advantageous exemplary embodiment, the wheels at the base are omnidirectional. Therefore, the movement system allows the irradiation device to rotate about any axis perpendicular to the ground on which it moves. In particular, the device itself can thus rotate. The movement system at the base (especially these wheels) also allows the irradiation device to translate in any direction on the ground without rotating. The omnidirectional wheels at the base also allow the irradiation device to rotate and translate simultaneously. The advantage of this movement system is the mobility of the irradiation device in positioning it in cluttered or confined spaces.

[0074] In an example implementation, the irradiation device (optionally, such as an irradiation system) also includes an applicator configured to be fastened to the outlet of the radiation source.

[0075] The use of a 6-axis arm allows the applicator to be positioned and oriented according to the physician's needs, enabling radiation to reach any target, regardless of its location within the patient's body.

[0076] Here, the applicator forms the interface between the target and the radiation source.

[0077] The applicator can be held by a physician facing the target, while the radiation source carried by the 6-axis arm is brought to the applicator by another physician.

[0078] This approach can be manual and assisted by a 6-axis arm, which is motorized and controlled by forces applied to one or more load sensors, particularly by manipulating a handle.

[0079] In another example implementation, the final approach and alignment of the axis of the radiation source with the axis of the applicator can be automated. For this purpose, the irradiation device includes, for example, a connection system comprising at least one position reference for the applicator and a sensor, preferably secured to a robot, for example, to the radiation source.

[0080] The sensor enables the applicator to be positioned relative to the radiation source. The position of the applicator relative to the radiation source, in turn, allows control of the movement of the 6-axis arm carrying the radiation source, aligning the radiation source with the axis of the applicator to dock the applicator and automatically secure it without any specific operator intervention.

[0081] Alternatively, especially for non-invasive cases, the applicator may be manually and / or indirectly secured to the radiation source via one or more load sensors.

[0082] Therefore, the applicator is not only aligned with the radiation source without direct contact, but is also fixed at the outlet of the radiation source. Thus, physicians can move, orient, and position the radiation source and applicator assembly on the target to be treated by manipulating the applicator or even any other component configured to move the radiation source and transmit force to one or more load sensors.

[0083] Therefore, in the example implementation, the manipulator handle includes an applicator.

[0084] Therefore, at least one load sensor is inserted between the surface of the applicator and the irradiation system housing. Thus, the applicator can apply force to at least one load sensor to act as a control handle.

[0085] For example, when the manipulator handle includes both the applicator and the wheel, the physician can apply high torque by holding the handle with one hand and the applicator with the other, making it easy for him or her to manipulate the irradiation system, and in particular, making it easier and more accurate to position the free end of the applicator relative to the target. Attached Figure Description

[0086] The invention will be well understood and its advantages will become clearer when reading the following detailed description given by way of non-limiting illustrative examples with reference to the accompanying drawings, based on exemplary embodiments.

[0087] Figure 1 This is a graphic representation of an irradiation device according to an exemplary embodiment of the present invention;

[0088] Figure 2 This is a diagram of a rapid irradiation device according to an exemplary embodiment of the present invention;

[0089] Figure 3 It shows Figure 2 A device in which an arm extends;

[0090] Figure 4 It shows Figure 3 A device in which the arm folds to allow it to be moved and retracted; and

[0091] Figure 5 Examples of the geometry and interface of the ionizing radiation source, load sensor, control handle, and applicator are shown. Detailed Implementation

[0092] The same parts shown in the aforementioned figures are identified by the same reference numerals.

[0093] Figure 1 The diagram illustrates an irradiation device 10 for irradiating the target C.

[0094] The irradiation device 10 mainly includes a base 11 and a 6-axis arm 12.

[0095] The 6-axis arm 12 includes a first end 13 and a second end 14. The 6-axis arm is fastened to the base 11 through the first end, and the second end is referred to as the free end.

[0096] At the first end 13, the 6-axis arm 12 includes, for example, an interface configured to secure the arm to the base 11.

[0097] Here, at the free end 14 of the 6-axis arm, the 6-axis arm 12 is equipped with an irradiation system 20.

[0098] Here, the irradiation system 20 is rigidly fastened to the free end 14 of the 6-axis arm 12.

[0099] Here, the irradiation system 20 mainly includes a microwave frequency source 21 and a radiation source 22 supplied by the microwave frequency source 21.

[0100] Here, radiation source 22 is configured to emit beam 23, such as an electron beam.

[0101] Radiation source 22 is, for example, a linear accelerator (LINAC).

[0102] The irradiation system 20 (which may be a radiation source 22) also includes an ultrafast sensor (not shown) configured to monitor the amount of radiation dose delivered to the target.

[0103] Here, the ultrafast sensor is preferably positioned at the outlet of the ionizing radiation source so that the entire radiation stream passes through it.

[0104] Here, the ultrafast sensor is a sensor configured to detect ionizing radiation dose within less than 0.01 ns and at a dose flux of at least 0.01 Gy / s, or even 25 Gy / s, or even 50 Gy / s, or preferably even 250 Gy / s, another possibility being 500 Gy / s or even 1000 Gy / s.

[0105] This sensor enables the detection of the dose of ionizing radiation generated within less than 0.01 ns and at a dose flux of at least 0.01 Gy / s, or even 25 Gy / s, or even 50 Gy / s, or preferably even 250 Gy / s, or possibly 500 Gy / s or even 1000 Gy / s.

[0106] Ultrafast sensors can be solid-state sensors made of silicon carbide or diamond, or sensors with one or more ionization chambers, or, if the ionizing radiation is radiation from charged particles such as electrons or protons, ultrafast sensors can be, for example, current transformers.

[0107] In this example embodiment, the irradiation system 20 includes a housing 25. Here, the microwave frequency source 21 and the radiation source 22 are confined within the housing 25.

[0108] The irradiation device 10 also includes a control handle 30, which is preferably connected to the radiation source 22.

[0109] Specifically, the operating handle 30 is secured to the housing 25.

[0110] The operating handle 30 includes, for example, a ring forming the handle.

[0111] In order to make the irradiation device coordinated, the irradiation device 10 includes load sensors 31, which includes three load sensors 31.

[0112] Here, the load sensor 31 is placed between the control handle 30 and the radiation source 22, and more specifically, the load sensor 31 is inserted between the control handle 30 and the surface of the housing 25.

[0113] In a preferred example embodiment, the three sensors are arranged in a triangle.

[0114] Therefore, when the physician manipulates the control handle 30, the load sensor 31 senses the load transmitted to the control handle 30 and sends the corresponding signal to the control-actuation unit 32.

[0115] Therefore, the control-actuation unit 32 controls the 6-axis arm to coordinate with the positioning and orientation of the radiation source 22 relative to the target C.

[0116] Here, the control-actuation unit 32 is represented in the base 11.

[0117] Therefore, the control-actuation unit 32 is configured to receive information from the load sensor and control the 6-axis arm based on the information received from the load sensor.

[0118] Here, the irradiation system 20 also includes an applicator 24 positioned at the outlet of the radiation source 22. Here, the applicator is rigidly fastened to a portion of the handle 30 by means of a fastening system 40, which is configured to fasten the applicator at the outlet of the radiation source 22.

[0119] The applicator 24 is, for example, a tube, such as an plexiglass tube.

[0120] In an example implementation, the fastening system 40 also includes a docking system 41 and a position sensor 42.

[0121] The position sensor 42 is placed, for example, on the illumination system 20, and preferably on the radiation source 22.

[0122] If the applicator 24 is held by the physician in a position opposite to the target C and is not yet connected in any way to the outlet of the radiation source 22, the fastening system 40 is configured to actuate the 6-axis arm 12 to fasten the radiation source 22 to the applicator 24 in the position where the applicator is held.

[0123] The position sensor 42 detects the position of the applicator 24 and sends the corresponding information to the control-actuation unit 32. The control-actuation unit controls the six-axis arm 12 to position the radiation source 22 and activates the fastening system 40 to fasten the applicator 24 at the exit of the radiation source 22 in the position held by the physician.

[0124] Therefore, the base 11 includes at least a control-actuation unit 32.

[0125] like Figure 2 As shown, the base 11 may also include, for example, a power supply 33 for an ionizing radiation source, to enable the device to operate in a fast mode.

[0126] The base 11 may also include an omnidirectional movement system 34, which includes, for example, wheels that are holonomic. Thus, the irradiation device 10 can move both translationally and rotationally in any direction simultaneously.

[0127] Finally, the base 11 preferably includes a stabilization system 35.

[0128] The stabilization system 35 is configured to fix the irradiation device 10 in a stable manner.

[0129] The stabilization system 35 includes, for example, leg supports, and may also include a telescopic plate (not shown) configured to have an extended position and a retracted position, wherein the plate is positioned opposite to the radiation in the extended position.

[0130] Therefore, the presence of this plate allows the use of irradiation devices at different locations while limiting the risk of radiation passing through the partition structure that exists opposite to the radiation source.

[0131] As an explanation, Figures 2 to 4 Irradiation devices 10 in different configurations are shown.

[0132] exist Figure 2 In the irradiation device 10, the applicator is positioned facing the target C. Therefore, the 6-axis arm 12 is in the extended position.

[0133] exist Figure 3 In this configuration, the irradiation device 10 is also in use, with the applicator positioned opposite the target C, but the 6-axis arm 12 is in an extended, outstretched position, i.e., at its maximum span. In fact, the irradiation device according to the invention allows access to a wider range of areas for treatment on the target C.

[0134] exist Figure 4 In this configuration, the irradiation device 10 is positioned for storage and / or relocation. Therefore, the 6-axis arm 12 is in a folded position. This results in a more compact irradiation device, making it easier to move.

[0135] Figure 5 An example implementation of the control handle 30 and load sensor 31 is shown in more detail.

[0136] In this example, the applicator 24 is rigidly fastened and engaged to a portion of the operating handle 30 by means of a fastening system 40, which is rigid between the applicator 24 and the portion of the operating handle 30.

[0137] Therefore, the applicator forms part of the manipulator handle 30. Thus, the physician can move and position the irradiation system (20) by holding the applicator 24.

[0138] Here, a portion of the control handle 30 is formed by the wheel 301.

[0139] Therefore, the housing of the steering wheel 301 surrounds the outlet of the radiation source 22 so as not to block the emitted radiation.

[0140] Wheel 301 is rigidly connected to radiation source 22, and three load sensors 31 are arranged in a triangle and positioned on the same plane at the connection interface between wheel 301 and radiation source 22.

[0141] Therefore, the load sensor 31 is configured to send a signal corresponding to the load applied via the handle to the control-actuation unit 32, and the control-actuation unit 32 is configured to generate a corresponding signal to control the movement of the 6-axis arm 12 in coordination with the positioning and orientation of the radiation source 22 relative to the target C to be aimed.

Claims

1. An irradiation device (10) configured to irradiate a target (C), the irradiation device comprising: - A 6-axis robot, the 6-axis robot including a base (11) and a 6-axis arm (12), a first end (13) of the 6-axis arm being attached to the base, and a second end (14) being designated as a free end; - Irradiation system (20), the irradiation system comprising a microwave frequency source (21) and a radiation source (22) supplied by the microwave frequency source (21), the irradiation system (20) being positioned at the free end of the 6-axis arm; - A control handle (30) is engaged with the radiation source (22), the control handle including an applicator (24) configured to be fastened at the outlet of the radiation source (22); - At least one load sensor (31), said at least one load sensor being placed between the control handle (30) and the 6-axis arm (12); as well as - Control-actuation unit (32), which is configured to receive information from the at least one load sensor (31) and control the 6-axis arm (12) based on the information received from the at least one load sensor (31).

2. The apparatus according to claim 1, characterized in that, The irradiation device (10) is configured to employ at least a use configuration and a storage and / or relocation configuration, wherein the 6-axis arm (12) is in an extended position and the 6-axis arm (12) is in a folded position in the storage and / or relocation configuration.

3. The apparatus according to any one of claims 1 or 2, characterized in that, The radiation source includes a linear accelerator.

4. The apparatus according to any one of claims 1 to 3, characterized in that, The irradiation system includes a housing (25), in which the microwave frequency source (21) and the radiation source (22) are placed, and the operating handle (30) is fastened to the housing, and the load sensor (31) is inserted between the operating handle (30) and the surface of the housing.

5. The apparatus according to any one of claims 1 to 4, characterized in that, The irradiation system includes at least two load sensors (31).

6. The apparatus according to any one of claims 1 to 5, characterized in that, The at least one load sensor (31) is placed between the control handle (30) and the radiation source (22).

7. The apparatus according to any one of claims 1 to 6, characterized in that, The base also includes a stabilization system (35) configured to compensate for the weight introduced by the irradiation system located at the free end of the 6-axis arm.

8. The apparatus according to claim 7, characterized in that, The stabilization system (35) includes a retractable plate configured to take on an extended position and a retracted position, wherein the retractable plate is opposite to the radiation when it is extended.

9. The apparatus according to any one of claims 1 to 8, characterized in that, The irradiation system (20) is configured to emit ionizing radiation and deliver an ionizing radiation dose of at least 20 Gy within less than 100 ms.

10. The apparatus according to any one of claims 1 to 9, characterized in that, The control handle (30) includes a wheel (301) surrounding the outlet of the radiation source (22).

11. The apparatus according to any one of claims 1 to 10, characterized in that, The base (11) includes a power source (33) for the radiation source (22), and the power source (33) is a high-voltage power source.

12. The apparatus according to any one of claims 1 to 11, characterized in that, The base (11) includes an omnidirectional movement system (34).

13. The apparatus according to any one of claims 1 to 12, characterized in that, The irradiation system (20) includes an ultrafast sensor configured to monitor the radiation dose delivered to the target (C).

14. The apparatus according to claim 13, characterized in that, The ultrafast sensor is configured to detect radiation dose within less than 0.01 ns and at a dose flux of at least 0.01 Gy / s.

Images