Robotic IORT x-ray radiation system with calibration well

1. An IORT X-ray delivery system comprising:

a portable base unit;

a robotic arm;

a first end of the robotic arm mounted to the portable base unit;

an X-ray treatment head disposed on a second end of the robotic arm distal from the first end;

the X-ray treatment head comprising at least one X-ray component configured to generate therapeutic radiation in the X-ray wavelength range;

a calibration well disposed at a predetermined location in the portable base unit, the calibration well comprised of a recess into which the X-ray treatment head can be received and having at least one port through which the X ray treatment head can be inserted by the robotic arm for calibration operations; and

wherein the calibration well includes a plurality of X-ray radiation sensing elements (XRSE) disposed at distributed locations around a periphery of the calibration well.

2. The IORT X-ray delivery system according to claim 1 , further comprising a control system configured to perform at least one calibration process including a positioning operation in which the robotic arm is controlled by the control system to insert the X-ray treatment head through the at least one port so that the X-ray treatment head is disposed at a predetermined calibration location inside the calibration well.

3. The IORT X-ray delivery system according to claim 2 , wherein the control system is configured to control the at least one X-ray component to produce an X-ray emission having a beam pattern, during a time when the X-ray treatment head is disposed at the predetermined calibration location.

4. The IORT X-ray delivery system according to claim 3 , wherein the control system is responsive to sensing data received from the plurality of XRSE, to determine at least one of a measured intensity and a measured beam pattern of X-ray radiation produced by the X-ray treatment head as a result of the X-ray emission.

5. The IORT X-ray delivery system according to claim 4 , wherein the control system is configured to compare the measured beam pattern to a specified beam pattern.

6. The IORT X-ray delivery system according to claim 5 , wherein the control system is configured to modify at least one operating parameter of the IORT X-ray deliver system responsive to the comparison by the control system of the measured beam pattern to specified beam pattern.

7. The IORT X-ray delivery system according to claim 6 , wherein the at least one operating parameter is a duration of a treatment time during which a therapeutic dose of X-ray radiation is delivered.

8. The IORT X-ray delivery system according to claim 6 , wherein the at least one operating parameter is a beam control parameter which determines at least one of a main beam direction, a main beam intensity, and a shape of the beam pattern.

9. The IORT X-ray delivery system according to claim 6 , wherein the at least one operating parameter is a robotic arm control parameter which determines a static position of the X-ray treatment head to be used when a therapeutic dose of X-ray radiation is applied.

10. The IORT X-ray delivery system according to claim 6 , wherein the at least one operating parameter is a motion control parameter which defines a dynamic movement of the robotic arm to be performed while a therapeutic dose of X-ray radiation is applied.

11. The IORT X-ray delivery system according to claim 10 , wherein the dynamic movement is a movement or a change of orientation which minimizes variations in the therapeutic dose delivered by the treatment head to surfaces of a tumor bed.

12. A method for calibrating an IORT X-ray delivery system comprising: supporting a first end of a robotic arm on a portable base unit;

supporting on a second end of the robotic arm an X-ray treatment head comprising at least one X-ray component configured to generate therapeutic radiation in the X-ray wavelength range;

using a control system to:

cause the robotic arm to insert the X-ray treatment head in a calibration well that is defined by a recess provided at a predetermined location in the portable base unit;

activate the at least one X-ray component to generate an X-ray emission from the X-ray treatment head while the X-ray treatment head is disposed at a predetermined calibration location in the calibration well;

receive sensor data from a plurality of X-ray radiation sensing elements (XRSE) disposed at distributed locations around a periphery of the calibration well; and

using the sensor data to determine at least one of an intensity and a beam pattern of X-ray radiation produced by the X-ray treatment head.

13. The method according to claim 12 , further comprising using the control system to automatically compare the determined beam pattern to a specified beam pattern.

14. The method according to claim 13 , further comprising operating the control system to automatically modify at least one operating parameter of the IORT X-ray delivery system responsive to the comparison by the control system of the determined beam pattern to a specified beam pattern.

15. The method according to claim 14 , further comprising selecting the at least one operating parameter to include a duration of a treatment time during which a therapeutic dose of X-ray radiation is delivered.

16. The method according to claim 14 , further comprising selecting the at least one operating parameter to include a beam control parameter which determines at least one of a main beam direction, a main beam intensity, and a shape of the beam pattern.

17. The method according to claim 14 , further comprising selecting the at least one operating parameter to include a robotic arm control parameter which determines a static position of the X-ray treatment head to be used when a therapeutic dose of X-ray radiation is applied.

18. The method according to claim 14 , further comprising selecting the at least one operating parameter to include a motion control parameter which defines a dynamic movement of the robotic arm to be performed while a therapeutic dose of X-ray radiation is applied.

19. The method according to claim 18 , wherein the dynamic movement minimizes variations in the therapeutic dose delivered by the treatment head to surfaces of a tumor bed.

20. The method according to claim 18 , wherein the dynamic movement is selected to change an orientation of the treatment head.