COLLABORATIVE IRRADIATING DEVICE

Abstract

An irradiating device, configured for irradiating a target, includes a 6-axis arm, an irradiating system positioned at the free end of the 6-axis arm, a manipulating handle, at least one load sensor placed between the manipulating handle and the 6-axis arm, and a control-actuation unit. The irradiating system includes a microwave frequency source and a radiation source supplied by the microwave frequency source. The manipulating handle is fastened to the radiation source. The control-actuation unit is configured to receive information from the load sensor and control the 6-axis arm according to the information received from the load sensor.

Claims

1-14. (canceled)

15. An irradiating device configured to deliver a radiation dose to a target, comprising: a 6-axis robot comprising a base and a 6-axis arm, the 6-axis arm comprising a first end attached to the base and a second end designated as a free end; an irradiating system, comprising a microwave frequency source and a radiation source supplied by the microwave frequency source, the irradiating system being positioned at the free end of the 6-axis arm; a manipulating handle, joined to the radiation source, comprising an applicator configured to be fastened at an exit of the radiation source; at least one load sensor placed between the manipulating handle and the 6-axis arm; and a controller-actuator configured to receive information from said at least one load sensor and to control the 6-axis arm according to an information received from said at least one load sensor.

16. The device of claim 15, wherein the 6-axis arm comprises an extended position and a folded position for storage and movement.

17. The device of claim 15, wherein the radiation source comprises a LINAC.

18. The device of claim 15, wherein the irradiating system comprises a casing in which are placed the microwave frequency source and the radiation source, the manipulating handle being fastened on the casing, and said at least one load sensor being interposed between the manipulating handle and a surface of the casing.

19. The device of claim 15, wherein the irradiating system comprises at least two load sensors.

20. The device of claim 15, wherein said at least one load sensor is placed between the manipulating handle and the radiation source.

21. The device of claim 15, wherein the base further comprises a stabilizing system configured to compensate a weight induced by the irradiating system positioned at the free end of the 6-axis arm.

22. The device of claim 21, wherein the stabilizing system comprises a retractable board configured to take an extended position and a retracted position, the retractable board facing opposite the radiation source when in the extended position.

23. The device of claim 15, wherein the irradiating system is configured to emit a ionizing radiation and deliver a dose of the ionizing radiation of at least 20 Gy in less than 100 ms.

24. The device of claim 15, wherein the manipulating handle comprises a wheel surrounding the exit of the radiation source.

25. The device of claim 15, wherein the base comprises a power source for supplying the radiation source, the power source being a voltage source.

26. The device of claim 15, wherein the base comprises an omnidirectional movement system.

27. The device of claim 15, wherein the irradiating system comprises an ultra-fast sensor configured to monitor the radiation dose delivered to the target.

28. The device of claim 27, wherein the ultra-fast sensor is configured to detect the radiation dose in less than 0.01 ns and at a throughputs of at least 0.01 Gy/s.

Description

[0085] The invention, according to an example embodiment, will be well understood and its advantages will be clearer on reading the following detailed description, given by way of illustrative example that is in no way limiting, with reference to the accompanying drawings in which.

[0086] FIG. 1 is a diagrammatic representation of an irradiating device according to an example embodiment of the invention;

[0087] FIG. 2 is a diagram of a flash irradiating device according to an example embodiment of the invention;

[0088] FIG. 3 shows the device of FIG. 2 with the arm extended;

[0089] FIG. 4 shows the device of FIG. 3 with the arm folded, in order to move and stow it; and

[0090] FIG. 5 shows an example of geometry and interfaces of the ionizing radiation source, load sensors, the manipulating handle and the applicator.

[0091] Identical parts represented in the aforementioned figures are identified by identical numerical references.

[0092] An irradiating device 10 for irradiating a target C is shown diagrammatically in FIG. 1.

[0093] The irradiating device 10 mainly comprises a base 11 and a 6-axis arm 12.

[0094] The 6-axis arm 12 comprises a first end 13 by which it is fastened to the base 11 and a second end 14 is referred to as free end.

[0095] At the first end 13, the 6-axis arm 12 comprises for example an interface configured to fasten the arm to the base 11.

[0096] Here, at its free end 14, the 6-axis arm 12 is provided with an irradiating system 20.

[0097] The irradiating system 20 is rigidly fastened here to the free end 14 of the 6-axis arm 12.

[0098] The irradiating system 20 here mainly comprises a microwave frequency source 21 and a radiation source 22 supplied by the microwave frequency source 21.

[0099] The radiation source 22 here is configured to emit a beam 23, for example an electron beam.

[0100] The radiation source 22 is for example a LINAC.

[0101] The irradiating system 20, possibly the radiation source 22, also comprises an ultra-fast sensor (not shown) configured to monitor an amount of radiation dose delivered to a target.

[0102] The ultra-fast sensor is preferably positioned here at an exit of the ionizing radiation source so as to be passed through by the entirety of the radiation stream.

[0103] An ultra-fast sensor here is a sensor configured to detect a dose of ionizing radiation in less than 0.01 ns and at dose throughputs of at least 0.01 Gy/s, or even 25 Gy/s, or even 50 Gy/s, or preferably even 250 Gy/s, still another possibility being 500 Gy/s or even 1000 Gy/s.

[0104] Such as sensor makes it possible to detect a dose of ionizing radiation that is produced in less than 0.01 ns and at dose throughputs of at least 0.01 Gy/s, or even 25 Gy/s, or even 50 Gy/s, or preferably even 250 Gy/s, still another possibility being 500 Gy/s or even 1000 Gy/s.

[0105] The ultra-fast sensor may be a solid state sensor of silicon carbide or diamond, or a sensor with one or more ionizing chambers, or for instance a current transformer if the ionizing radiation is radiation of charged particles, such as electrons or protons.

[0106] In the present example embodiment, the irradiating system 20 comprises a casing 25. The microwave frequency source 21 and the radiation source 22 are confined here within the casing 25.

[0107] The irradiating device 10 further comprises a manipulating handle 30, which is preferably joined to the radiation source 22.

[0108] In particular here, the manipulating handle 30 is fastened to the casing 25.

[0109] The manipulating handle 30 comprises for example a loop forming a handle.

[0110] In order to make the irradiating device collaborative, the irradiating device 10 comprises load sensors 31, here three load sensors 31.

[0111] The load sensors 31 are placed here between the manipulating handle 30 and the radiation source 22, and more specifically here, the load sensors 31 are interposed between the manipulating handle 30 and a surface of the casing 25.

[0112] In a preferred example embodiment, the three sensors are disposed in a triangle.

[0113] Thus, when a practitioner manipulates the manipulating handle 30 the load sensors 31 sense the loads transmitted to the manipulating handle 30 and send a corresponding signal to a control-actuation unit 32.

[0114] Thus, the control-actuation unit 32 controls the 6-axis arm to collaborate with the positioning and with the orientation of the radiation source 22 relative to the target C.

[0115] The control-actuation unit 32 is represented here in the base 11.

[0116] The control-actuation unit 32 is thus configured to receive information from the load sensors and control the 6-axis arm according to the information received from the load sensors.

[0117] The irradiating system 20 also here comprises an applicator 24 positioned at an exit of the radiation source 22. Here, the applicator is rigidly fastened to part of the handle 30 by means of a fastening system 40 configured to fasten the applicator at an exit of the radiation source 22.

[0118] The applicator 24 is for example a tube, for example a perspex tube.

[0119] In an example embodiment, the fastening system 40 also comprises a docking system 41 and a position sensor 42.

[0120] The position sensor 42 is for example placed on the irradiating system 20 and preferably on the radiation source 22.

[0121] If the applicator 24 is held by a practitioner in position facing opposite the target C without yet being connected in any way at an exit from the radiation source 22, the fastening system 40 is configured to actuate the 6-axis arm 12 so as to fasten the radiation source 22 to the applicator 24, in the position in which it is held.

[0122] The position sensor 42 detects the position of the applicator 24, sends corresponding information to the control-actuation unit 32 which controls the 6-axis arm 12 to position the radiation source 22 and which activates the fastening system 40 so as to fasten the applicator 24 in its position held by the practitioner at an exit from the radiation source 22.

[0123] The base 11 thus comprises at least control-actuation unit 32.

[0124] As shown in FIG. 2, the base 11 may also comprise, for example, a power source 33 for the ionizing radiation source in order for the device to be able to operate in flash mode.

[0125] The base 11 may also comprise an omnidirectional movement system 34, comprising for example wheels, which are for example holonomic. The irradiating device 10 can thus be simultaneously moved translationally and rotationally in any direction.

[0126] Lastly, the base 11 preferably comprises a stabilizing system 35.

[0127] The stabilizing system 35 is configured to immobilize, in stable manner, the irradiating device 10.

[0128] The stabilizing system 35 for example comprises leg-stands, and possibly also a retractable board (not shown) configured to have an extended position and a retracted position, the board in extended position then being located facing opposite the radiation.

[0129] The presence of such a board thus makes it possible to use the irradiating device at different locations while limiting the risk of the radiation passing through a partition structure present facing opposite the radiation.

[0130] By way of illustration, FIGS. 2 to 4 shows the irradiating device 10 in different configurations.

[0131] In FIG. 2, the irradiating device 10 is in a configuration of use in which the applicator is positioned facing the target C. The 6-axis arm 12 is thus in an extended position.

[0132] In FIG. 3, the irradiating device 10 is also in a configuration of use in which the applicator is positioned facing opposite the target C, but the 6-axis arm 12 is then in a deployed extended position, that is to say at maximum span. As a matter of fact, the irradiating device according to the invention makes it possible to reach more varied regions to treat on a target C.

[0133] In FIG. 4, the irradiating device 10 is in a configuration for storage and/or movement. The 6-axis arm 12 is thus in a folded position. The compactness of the irradiating device is then better, which makes it more easily movable.

[0134] FIG. 5 illustrates in more detail an example embodiment of the manipulating handle 30 and of load sensors 31.

[0135] In this example, the applicator 24 is rigidly fastened, joined, to part of the manipulating handle 30, for example by means of the fastening system 40, which is rigid, between the applicator 24 and the part of the manipulating handle 30.

[0136] Thus, the applicator forms part of the manipulating handle 30. A practitioner can thus move and position the irradiating system (20) by holding the applicator 24.

[0137] The part of the manipulating handle 30 is formed by a wheel 301 here.

[0138] The wheel 301 case thus surround an exit of the radiation source 22 so as not to obstruct the radiation emitted.

[0139] The wheel 301 is rigidly connected to the radiation source 22, and to a connecting interface between the wheel 301 and the radiation source 22, three load sensors 31 are positioned, in a triangle, here in a same plane.

[0140] The load sensors 31 are thus configured to send signals corresponding to the loads applied via the handle to the control-actuation unit 32, and the control-actuation unit 32 is configured to generate corresponding signals to control the movements of the 6-axis arm 12, in order to collaborate with the positioning and with the orientation of the radiation source 22 relative to the target C to aim at.