A robotic system for intraoperative radiation therapy, comprising: a robotic arm comprised of a plurality of movable joints and secured at a first end to a base; a treatment head disposed on a second end of the robotic arm distal from the base; the treatment head comprising at least one X-ray component configured to facilitate generation of therapeutic radiation in the X-ray wavelength range; characterised in that the system further comprises: a plurality of torque sensors respectively associated with the plurality of movable joints and configured to sense forces exerted on the plurality of movable joints through the treatment head as a result of movement of a patient body; and a control system comprised of an electronic circuit, the control system responsive to patient motion data from the plurality of torque sensors and configured to facilitate dynamic position control of the treatment head by selectively varying a position of at least one of the movable joints comprising the robotic arm responsive to the patient motion data; wherein the dynamic position control is configured to minimize a relative motion as between the treatment head and all surfaces of a tumor bed defining a cavity internal of the patient while using the treatment head to perform a radiation treatment, whereby variations in distance as between the treatment head and all surfaces of the tumor bed are minimized during a respiratory action of the patient body. a robotic arm comprised of a plurality of movable joints and secured at a first end to a base; a treatment head disposed on a second end of the robotic arm distal from the base; the treatment head comprising at least one X-ray component configured to facilitate generation of therapeutic radiation in the X-ray wavelength range; characterised in that the system further comprises: a plurality of torque sensors respectively associated with the plurality of movable joints and configured to sense forces exerted on the plurality of movable joints through the treatment head as a result of movement of a patient body; and a control system comprised of an electronic circuit, the control system responsive to patient motion data from the plurality of torque sensors and configured to facilitate dynamic position control of the treatment head by selectively varying a position of at least one of the movable joints comprising the robotic arm responsive to the patient motion data; wherein the dynamic position control is configured to minimize a relative motion as between the treatment head and all surfaces of a tumor bed defining a cavity internal of the patient while using the treatment head to perform a radiation treatment, whereby variations in distance as between the treatment head and all surfaces of the tumor bed are minimized during a respiratory action of the patient body. a plurality of torque sensors respectively associated with the plurality of movable joints and configured to sense forces exerted on the plurality of movable joints through the treatment head as a result of movement of a patient body; and a control system comprised of an electronic circuit, the control system responsive to patient motion data from the plurality of torque sensors and configured to facilitate dynamic position control of the treatment head by selectively varying a position of at least one of the movable joints comprising the robotic arm responsive to the patient motion data; wherein the dynamic position control is configured to minimize a relative motion as between the treatment head and all surfaces of a tumor bed defining a cavity internal of the patient while using the treatment head to perform a radiation treatment, whereby variations in distance as between the treatment head and all surfaces of the tumor bed are minimized during a respiratory action of the patient body. <EOS>