Collaborative irradiation device

Abstract

The irradiation device (10) comprises a six-axis arm (12), an irradiation system (20) located at the free end (14) of the six-axis arm, a microwave source (21) and a radiation source (22) supplied by the microwave source (21), and is configured to comprise an operating handle (30), at least one load sensor (31) fixed to the radiation source (22) and disposed between the operating handle (30) and the six-axis arm (12), and a control-actuation unit (32) configured to receive information from the load sensor (31) and control the six-axis arm (12) according to the information received from the load sensor (31).

Description

Technical Field

[0001] The present invention relates to a collaborative irradiation device for, for example, radiotherapy.

[0002] Such a device is also called a "cobot".

Background Art

[0003] External or intraoperative radiotherapy (IORT: intraoperative radiotherapy) is a treatment method for local cancer. This, combined with surgery, is one of the most frequently used cancer treatment methods and can itself clearly bring about a reduction in the disease state. Radiotherapy may be used alone or in association with surgery or chemotherapy. Its indications are related to the type of tumor, its location, its stage, and the overall condition of the target (generally the area where the patient is treated). In some cases, there are advantages to performing it outpatient, considering the short treatment period and fewer side effects compared to chemotherapy.

[0004] For this purpose, in radiotherapy, ionizing radiation (X-rays, electrons, protons, etc.) is used to affect and destroy the regenerative ability of cancer cells. Radiation irradiation aims to destroy all tumor cells while preserving healthy peripheral tissues. However, in certain types of cancer, X-ray treatment causes the difficulty that the tumor may be located very close to a part of the organ where it is desirable to avoid irradiation.

[0005] Furthermore, it has been clarified that delivering a very high dose in a very short period (typically less than 1 second) is far less harmful to healthy tissues than delivering the same dose, or even a lower dose, over a longer period (i.e., several seconds or even several minutes in the conventional treatment mode). This phenomenon is described, for example, in Non-Patent Document 1.

[0006] Such a treatment mode is particularly referred to as "high-dose-rate irradiation". In this way, high-dose-rate irradiation makes it possible to produce the same therapeutic effect as conventional radiotherapy while limiting possible undesirable side effects.

[0007] Furthermore, high-dose-rate irradiation makes it possible to avoid removing the tumor beforehand, which is particularly convenient when the tumor is inoperable (for example, when the tumor is located near the patient's carotid artery or pancreas and the risk of affecting the nervous system is too high).

[0008] In this way, high-dose-rate irradiation enables the treatment of a wider variety of tumors, especially tumors that are usually inoperable (e.g., by conventional means such as surgery).

[0009] Also, for high-dose ionizing radiation administered in a very short time, it is necessary to accurately irradiate, measure, and / or control it. The effects of inappropriate control of the dose and / or dose rate absorbed by the target can lead to the destruction of healthy cells, tissues, or organs and the subsequent secondary effects as a result, and in some cases, it may have harmful effects on at-risk organs.

[0010] For example, Patent Document 1 discloses an irradiation device that uses ionizing radiation for radiotherapy and / or radiation biology that enables the use of a flash mode (du mode flash). Thus, this device generally includes an ion or electron beam linear accelerator, commonly referred to as a "LINAC", and control and actuation electronics that enable the overall cessation of the emission of ionizing radiation when a dose defined by the operator is reached. And more particularly, in an accurate and controlled manner, a dose of ionizing radiation of at least 0.25 Gy (gray), preferably 10 Gy, in an energy range composed between 1 MeV and 50 MeV, over a very short time, for example less than 100 ms, in some cases less than 1 ms, in some cases less than 100 μs, in some cases less than 0.1 μs. It includes an irradiation device that uses ionizing radiation configured to irradiate. It can also generate an adjustable energy particle beam pulsed at a desired frequency (f) with an adjustable pulse duration (d) between 1 MeV and 50 MeV, and an absorbed dose rate of at least 250 Gy / s, perhaps 500 Gy / s, or at least 1000 Gy / s over a 2 square centimeter to 10 cm 2 delivery range in the exposure field up to. In practice, the beam emitted by the radiation source (e.g., LINAC) must be applied at a specific angle and specific distance relative to the target.

[0011] For example, there is a conventional radiotherapy device that includes a six-axis robot that supports a LINAC at one end.

[0012] Generally, the operator places the applicator on the target (on the patient or, in part, inside the patient depending on the case) and holds it by hand. Next, another operator moves the device for the radiation source at the exit of the LINAC connected to the applicator. Next, everyone leaves the room where the patient is, and the radiation is activated for treatment. For this purpose, in a room called the "control room" located next to the room called the "operating room" where the patient and the irradiation device are placed, a man-machine interface (MMI) is generally configured. Furthermore, the operating room is equipped with a radiation protection wall.

[0013] For example, Patent Document 2 describes a radiation therapy device including a six-axis robot configured to align a treatment head having a fixed applicator on an operating table.

[0014] The procedure for operating the irradiation device is thus very long and delicate. This is because the LINAC is very heavy and difficult to operate, yet must adapt to specific regulations with respect to the target (and thus with respect to the applicator).

[0015] Therefore, automated devices have been developed, for example, devices capable of detecting the target, or devices guided by an external system, or remotely controlled devices (e.g., via a joystick). However, such devices are not only difficult to remotely control, but generally it is more comfortable and practical for the operator to directly operate the irradiation device. Furthermore, to perform high-dose-rate irradiation, a larger available power source than conventional radiation therapy is required, which results in an even greater weight in the irradiation device, offsetting the ease of operation of the device.

Prior Art Documents

Patent Documents

[0016]

Patent Document 1

Patent Document 2

Non-Patent Literature

[0017]

Non-Patent Literature 1

Summary of the Invention

Problems to be Solved by the Invention

[0018] An object of the present invention is thus to provide an irradiation device that uses ionizing radiation, and in particular, to overcome at least in part the aforementioned drawbacks for radiotherapy and / or radiation biology.

Means for Solving the Problems

[0019] For that purpose, according to a first aspect, there is provided an irradiation device configured to irradiate a target in flash mode or conventional mode, the irradiation device comprising: - a six-axis robot including a base and a six-axis arm, wherein a first end of the six-axis arm is attached to the base and a second end is a free end; - an irradiation system including a microwave source and a radiation source supplied by the microwave source, the irradiation system being disposed at the free end of the six-axis arm; - an operating handle connected to the radiation source; - at least one load sensor (capteur d’effort) installed between the operating handle and the six-axis arm, or further between the operating handle and the radiation source; - a control-actuation unit configured to receive information from the load sensor and control the six-axis arm according to the information received from the load sensor.

[0020] At least one load sensor converts the load it receives into an electrical signal.

[0021] The measurement of the electrical signal sent by the load sensor is converted into the movement and direction control of the radiation source.

[0022] The load applied to the sensor in the X direction is converted into a command for movement in the X direction, which depends on the acceleration and speed depending on the intensity of the load, that is, the amplitude of the electrical signal sent by the load sensor in the X direction. When two load sensors arranged on the Y-axis receive loads of different intensities in the X direction, the intensity difference corresponds to the torque applied along the Z direction perpendicular to the plane including the Y-axis and the X direction where the load sensors are arranged.

[0023] This difference in load intensity results in a difference in the amplitude of the signal sent in the X direction by the load sensor.

[0024] Subsequently, this difference in the amplitude of the electrical signal is converted into a command for rotation around the Z-axis, which has an acceleration and speed depending on the difference in load intensity, that is, the difference in the amplitude of the electrical signals sent by the two load sensors in the X direction.

[0025] In this way, the load sensor enables feedback control of the irradiation device so that the irradiation device then forms a collaborative robot, that is, a "cobot", and its operation is assisted.

[0026] This device can be operated by one person, for example, but generally, conventional devices required at least two people to operate.

[0027] According to the present invention, the sensor thus enables the interpretation of the intention for movement by the operator and provides better ergonomics for the device, that is, makes the operation easier and compensates for the stress between different interfaces.

[0028] Therefore, for example, the irradiation device is configured to adopt at least one of a use configuration in which the six-axis arm is in the deployed position and a storage configuration and / or a movement configuration in which the six-axis arm is then in the folded position. In this configuration, the irradiation device is more compact and can be moved more easily if necessary.

[0029] The irradiation device, and more particularly the irradiation system, includes an operation handle.

[0030] At least one load sensor is disposed between the operation handle and the six-axis arm. However, when a load sensor is placed between the six-axis arm and the irradiation system, since the irradiation system located at the free end of the six-axis arm has a weight of about 150 kg, the transmitted load is very large.

[0031] Therefore, in an embodiment that is particularly practical for reducing these loads, at least one load sensor is disposed between the operation handle and the radiation source.

[0032] In a preferred embodiment, the irradiation device includes at least two, and perhaps three, load sensors.

[0033] The operation handle includes, for example, a handle or a fixed steering wheel. Nevertheless, in order to move and orient the radiation source, the operation handle can include any part of a device that can transmit a load to at least one load sensor.

[0034] The steering wheel surrounds, for example, the outlet of the radiation source so as not to interfere with the emitted radiation, thereby providing a gripping portion for the operator regardless of his position.

[0035] In one embodiment, the irradiation device is particularly capable of performing treatment in the flash mode.

[0036] A device capable of performing treatment in the flash mode is described in detail, for example, in Patent Document 1 mentioned above.

[0037] Specifically here, in order to perform treatment in flash mode, maximum irradiation output is required. To maximize the available power, the microwave source is thus arranged as close as possible to the radiation source, which enables minimizing the electromagnetic power loss between the microwave source and the particle beam accelerator cavity, and useful radiation is provided.

[0038] According to the present invention, therefore, it is possible to manufacture an apparatus that can perform treatment in flash mode and can deliver more radiation power without being bulkier than known prior art systems.

[0039] Furthermore, due to the corresponding high weight, there was a prejudice among those skilled in the art to arrange both the LINAC type microwave source and the radiation source in the same assembly fixed to the arm end. In fact, in conventional devices, the microwave source was generally used as a counterweight for the radiation source; such an arrangement facilitated the balance of the device but resulted in high losses of microwave electromagnetic power.

[0040] However, arranging both the microwave source and the radiation source at the tip of the arm has actually been proven to be feasible in the future thanks to the 6 - axis arm.

[0041] However, on the one hand, it is preferable to limit the excessive weight that may be caused by other components at the tip of the arm.

[0042] The microwave source refers to an electromagnetic wave source configured to generate an electromagnetic field with a frequency of at least 300 MHz. It is desirable that the electromagnetic wave frequency is in the S - band (i.e., between 2 GHz and 4 GHz), or the C - band (i.e., between 4 GHz and 8 GHz), or for example the X - band (i.e., between 8 GHz and 12 GHz).

[0043] The irradiation system is configured to emit ionizing radiation, for example, with at least one dose of this ionizing radiation being less than 100 ms, or even less than 1 μs, at least 20 Gy, for example 30 Gy.

[0044] According to a preferred embodiment, the radiation source includes a linear accelerator of electrons, referred to as a LINAC.

[0045] This irradiation system is configured to emit ionizing radiation, for example, by pulses with a repetition frequency (f) configured between 10 Hz and 1 kHz, and each pulse has a duration (d) configured between, for example, 10 ns and 100 μs.

[0046] For example, the irradiation system is configured here to irradiate a dose per pulse configured between 1 Gy and 10 Gy.

[0047] In an advantageous embodiment, for example, an ultra-fast sensor such as a radiation source, for example, a solid sensor of silicon carbide or diamond, or if the ionizing radiation is ionizing radiation of household particles such as electrons or protons, for example, a sensor having one or more ionization chambers, or for example, a current transformer (for example, of the Bergoz brand) is included.

[0048] The ultra-fast sensor here is preferably arranged at the exit of the source of the ionizing radiation beam so that the entire radiation flux from the radiation source passes through.

[0049] In this way, the ultra-fast sensor is configured to monitor the radiation dose irradiated on the target.

[0050] The ultra-fast sensor here is a sensor configured to detect ionizing radiation of a dose generated at a dose rate of less than 0.01 ns, at least 0.01 Gy / s, or 25 Gy / s, or even 50 Gy / s, or preferably 250 Gy / s, further 500 Gy / s or 1000 Gy / s.

[0051] Such sensors are capable of detecting ionizing radiation doses generated at dose rates of at least 0.01 Gy / s, or 25 Gy / s, or even 50 Gy / s, or preferably 250 Gy / s, further 500 Gy / s or 1000 Gy / s in less than 0.01 ns.

[0052] In an advantageous embodiment, the irradiation system comprises a casing in which the microwave source and the radiation source are arranged and the operating handle is fixed, and the at least one load sensor is interposed between the operating handle and the surface of the casing.

[0053] According to an advantageous option, the base further includes a stabilization system configured to compensate for the weight generated by an irradiation system arranged at the free end of the six-axis arm.

[0054] The stabilization system better corrects the lever arm or cantilever effect due to the positioning of the radiation system, gives a greater reach to the six-axis arm, and enables the device to be protected.

[0055] The stabilization system includes, for example, at least one leg stand (be(`)quille).

[0056] According to an advantageous aspect, the stabilization system further includes a retractable board configured to take a deployed position and a stored position, and the board faces the opposite side of the radiation in the deployed position. Such a board can, for example, prevent radiation from passing through a split structure, such as the floor of the room where the device is located, or any other target that is preferably protected from radiation.

[0057] Also, the base can include a power supply for the ionizing radiation source, for example, to enable the device to operate in flash mode.

[0058] Here, the electrical power supply refers to a high-voltage power supply. According to another option, the base may also include, for example, an omnidirectional movement system including wheels.

[0059] In this way, the irradiation device can be moved in any direction.

[0060] In an advantageous embodiment, the wheels of the base are holonomic. In this way, the movement system enables the rotational movement of the irradiation device around any axis perpendicular to the surface of the ground on which the device moves. In particular, the device itself can rotate in this way. The movement system of the base, particularly such wheels, also enables the translational movement of the irradiation device in any direction on the ground without rotating. Also, the holonomic wheels of the base enable the rotational movement and translational movement of the irradiation device simultaneously. The advantage of such a movement system is the operability of the irradiation device, which can position itself in a scattered or narrow space.

[0061] In one embodiment, the irradiation device, optionally, for example, the irradiation system, further includes an applicator configured to be fixed to the outlet of the radiation source.

[0062] By using a 6-axis arm, the applicator can be positioned and oriented at the position desired by the operator, thereby enabling radiation to reach any target regardless of the position of the target within the patient. Here, the applicator forms an interface between the target and the radiation source. It can be held by the operator facing the target while the radiation source supported by the 6-axis arm is brought in by another operator for connection to the applicator. This method may be manual, assisted by an electric 6-axis arm, and particularly controlled by an operation handle, a load sensor, or the force applied to the sensor.

[0063] In another embodiment, the final approach and the alignment of the axis of the radiation source and the axis of the applicator can be automated. For this purpose, the irradiation device includes, for example, a connection system including at least one marker (repe(`)re) for arranging the applicator and the sensor, and is preferably fixed to a robot, for example, to the radiation source.

[0064] The sensor makes it possible to identify the position of the applicator relative to the radiation source. The position of the applicator relative to the radiation source, in turn, makes it possible to control the movement of the six-axis arm supporting the radiation source, so that the latter is aligned and docked with the axis of the applicator and automatically fixed without the operator having to intervene specifically.

[0065] Alternatively, especially in the case of non-invasive, the applicator can be fixed to the radiation source, optionally manually and / or indirectly, via one or more load sensors.

[0066] Thus, the applicator is not only aligned with the radiation source without direct contact, but also fixed to the outlet from the radiation source. Thus, the practitioner can move, orient, and arrange the group of the radiation source and the applicator on the target to be treated by operating the applicator or, further, by operating any other component configured to transmit force to one or more load sensors.

[0067] Thus, in an embodiment, the operating handle includes the applicator.

[0068] Thus, at least one load sensor is here arranged between the applicator and the surface of the irradiation system casing. Thereby, the applicator can apply force to at least one load sensor so as to function as an operating handle.

[0069] For example, when the operating handle includes both the applicator and the wheel, the operator can apply high torque by holding the handle with one hand and the applicator with the other hand, and can easily operate the irradiation system. In particular, the free end of the applicator can be more easily and accurately positioned with respect to the target.

[0070] According to an embodiment, the present invention will be fully understood, and its advantages will become more apparent by reading the following detailed description. This is given by way of non-limiting illustrative examples with reference to the accompanying drawings as follows.

Brief Description of the Drawings

[0071]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Mode for Carrying Out the Invention

[0072] The same parts represented in the above-mentioned figures are identified by the same reference numerals.

[0073] An irradiation device 10 for irradiating a target C is schematically shown in FIG. 1.

[0074] The irradiation device 10 mainly includes a base 11 and a six-axis arm 12.

[0075] The 6-axis arm 12 includes a first end 13, which is fixed to the base 11 by the first end 13, and a second end 14 is called a free end.

[0076] At the first end 13, the 6-axis arm 12 comprises, for example, an interface configured to fix the arm to the base 11.

[0077] Here, at its free end 14, an irradiation system 20 is provided on the 6-axis arm 12. The irradiation system 20 is firmly fixed to the free end 14 of the 6-axis arm 12 here.

[0078] The irradiation system 20 here mainly includes a microwave source 21 and a radiation source 22 supplied by the microwave source 21.

[0079] Here, the radiation source 22 is configured to emit a beam 23 such as, for example, an electron beam.

[0080] The radiation source 22 is, for example, a LINAC.

[0081] The irradiation system 20, or alternatively the radiation source 22, may further include an ultra-fast sensor (not shown) configured to monitor the radiation dose irradiated to the target.

[0082] The ultra-fast sensor is preferably arranged at the outlet of the ionizing radiation source such that the entire radiation beam passes through.

[0083] The ultra-fast sensor here is a sensor configured to detect the dose of ionizing radiation at a dose rate of less than 0.01 ns and at least 0.01 Gy / s, or 25 Gy / s, or even 50 Gy / s, or preferably 250 Gy / s, further 500 Gy / s or 1000 Gy / s.

[0084] Thus, such a sensor can detect ionizing radiation having a dose generated in less than 0.01 ns and a dose rate of at least 0.01 Gy / s, or 25 Gy / s, or even 50 Gy / s, or preferably 250 Gy / s, further 500 Gy / s or 1000 Gy / s.

[0085] The ultra-high-speed sensor may be a solid sensor of silicon carbide or diamond, or a sensor having one or more ionization chambers, or, for example, a current transformer when the ionizing radiation is radiation of charged particles such as electrons or protons.

[0086] In this embodiment, the irradiation system 20 includes a casing 25. The microwave source 21 and the radiation source 22 are here confined within the casing 25.

[0087] The irradiation device 10 further includes an operation handle 30, and the operation handle 30 is desirably connected to the radiation source 22. In particular, here the operation handle 30 is fixed to the casing 25.

[0088] Operating the handle 30 includes, for example, a loop forming the handle.

[0089] To cooperate the irradiation devices, the irradiation device 10 includes load sensors 31, here three load sensors 31.

[0090] The load sensors 31 are here arranged between the operation handle 30 and the radiation source 22, and more specifically, here the load sensors 31 are interposed between the operation handle 30 and the surface of the casing 25.

[0091] In a preferred embodiment, the three sensors are arranged in a triangle.

[0092] Thus, when the operator operates the operation handle 30, the load sensors 31 sense the load transmitted to the operation handle 30 and send a corresponding signal to the control-actuation unit 32.

[0093] As a result, the control-actuation unit 32 controls the six-axis arm so as to cooperate in positioning and orienting the radiation source 22 with respect to the target C. The control-actuation unit 32 is represented here within the base 11.

[0094] Thus, the control-actuation unit 32 is configured to receive information from the load sensor and control the six-axis arm according to the information received from the load sensor.

[0095] The irradiation system 20 located here also includes an applicator 24 disposed at the outlet of the radiation source 22. Here, the applicator is firmly fixed to a part of the handle 30 by a fastening system 40 configured to fix the applicator to the outlet of the radiation source 22. The applicator 24 is a tube such as, for example, a Perspex (registered trademark) tube. According to an exemplary embodiment, the fastening system 40 also includes a docking system 41 and a position sensor 42.

[0096] The position sensor 42 is disposed, for example, on the irradiation system 20, preferably on the radiation source 22.

[0097] If the applicator 24 is held by the operator at a predetermined position facing the target C without being connected in any way at the outlet from the radiation source 22, the fastening system 40 is configured to operate the six-axis arm 12 to fix the radiation source 22 to the applicator 24 at the position where the six-axis arm 12 is held.

[0098] The position sensor 42 detects the position of the applicator 24, sends the corresponding information to the control-actuation unit 32, and this control-actuation unit controls the six-axis arm 12 to position the radiation source 22 and operates the fastening system 40 to fix the applicator 24 at the position held by the operator at the outlet from the radiation source 22.

[0099] Therefore, the base 11 includes at least the control-actuation unit 32.

[0100] As shown in FIG. 2, the base 11 can also include a power supply 33 for an ionizing radiation source, for example, to enable the device to operate in flash mode.

[0101] The base 11 can also include an omnidirectional movement system 34, for example, including wheels that are holonomic. In this way, the irradiation device 10 can move simultaneously in a translational and rotational manner in any direction.

[0102] Finally, the base 11 preferably includes a stabilization system 35.

[0103] The stabilization system 35 is configured to stably immobilize the irradiation device 10.

[0104] The stabilization system 35 includes, for example, leg stands and, optionally, a retractable board (not shown) configured to have a deployed position and a stored position. The board in the deployed position is then arranged opposite to the radiation.

[0105] The presence of such a board allows the irradiation device to be used at different positions while limiting the risk of radiation passing through a partition structure that is present on the opposite side to the radiation.

[0106] By way of example, Examples 2 to 4 show irradiation devices 10 with different configurations.

[0107] In FIG. 2, the irradiation device 10 is in a use configuration where the applicator faces the target C. In this way, the 6-axis arm 12 is in a deployed position.

[0108] In FIG. 3, the irradiation device 10 is also in a use configuration where the applicator is located on the opposite side of the target C, whereby the 6-axis arm 12 is in a deployed position, i.e., the maximum span. In fact, the irradiation device according to the invention makes it possible to reach more varied areas for treatment on the target C.

[0109] In FIG. 4, the irradiation device 10 is in a configuration for storage and / or movement. Accordingly, the six-axis arm 12 is in a folded position. Thereby, the compactness of the irradiation device is improved and it can be moved more easily.

[0110] FIG. 5 shows in more detail an embodiment of the operation handle 30 and the load sensor 31.

[0111] In this example, the applicator 24 is firmly fastened and connected to a part of the operation handle 30, for example, by a fastening system 40 that is rigid between the applicator 24 and the part of the operation handle 30.

[0112] In this way, the applicator forms part of the operation handle 30. The operator can then move and position the irradiation system (20) by holding the applicator 24.

[0113] The part for operating the handle 30 is formed here by the wheel 301.

[0114] In this way, the steering wheel 301 can surround the outlet of the radiation source 22 so as not to interfere with the emitted radiation.

[0115] The steering wheel 301 is firmly connected to the radiation source 22 and connected to the connection interface between the steering wheel 301 and the radiation source 22, and three load sensors 31 are arranged in a triangle and here in the same plane.

[0116] In this way, the load sensor 31 is configured to transmit 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 six-axis arm 12 for cooperation in the positioning and orientation of the radiation source 22 with respect to the target C to be aimed at.

Claims

1. An irradiation device (10) configured to irradiate a target (C), comprising: - A six-axis robot including a base (11) and a six-axis arm (12), wherein a first end (13) of the six-axis arm (12) is attached to the base and a second end (14) is a free end; - An irradiation system (20) including a microwave source (21) and a radiation source (22) supplied by the microwave source (21), the irradiation system being located at the free end (14) of the six-axis arm; - An operating handle (30) connected to the radiation source (22), the operating handle including an applicator (24) configured to be fixed to an outlet of the radiation source (22); - At least one load sensor (31) disposed between the operating handle (30) and the six-axis arm (12); - A control-actuation unit (32) configured to receive information from the load sensor (31) and control the six-axis arm (12) according to the information received from the load sensor (31). The irradiation device (10) comprising the above components.

2. The device according to claim 1, characterized in that the irradiation device (10) is configured to adopt at least one of a use configuration in which the six-axis arm (12) is in a deployed position and a storage configuration and / or a movement configuration in which the six-axis arm (12) is then in a folded position.

3. The device according to any one of claims 1 or 2, characterized in that the radiation source includes a LINAC.

4. The irradiation system includes a casing (25) in which the microwave source (21) and the radiation source (22) are disposed, and the operating handle (30) is fixed on the casing; the device according to any one of claims 1 to 3, characterized in that the load sensor (31) is interposed between the operating handle (30) and the surface of the casing.

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

6. The device according to any one of claims 1 to 5, characterized in that at least one of the load sensors (31) is disposed between the operating handle (30) and the radiation source (22).

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

8. The device according to claim 7, characterized in that the stabilization system (35) comprises a retractable board configured to take a deployed position and a stowed position, and the board faces the radiation in the deployed position.

9. The device according to any one of claims 1 to 8, characterized in that the irradiation system (20) emits ionizing radiation and is configured to irradiate a dose of ionizing radiation of at least 20 Gy in less than 100 ms.

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

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

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

13. The device according to any one of claims 1 to 12, characterized in that the irradiation system (20) includes an ultra-high-speed sensor configured to monitor the radiation dose irradiated to the target (C).

14. The device according to claim 13, characterized in that the ultra-high-speed sensor is configured to detect a dose with a dose rate of at least 0.01 Gy / s in less than 0.01 ns.

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