It's a good sign that you are at least asking this question. You got some good advice about how to avoid making mistakes, but nothing addressing your specific question, which is dealing with an actual mistake (presumably something that could be uncomfortable to defend in a courtroom) when it happens.
You're not going to find too many people willing to raise their hand and say "yeah, been there" when you are talking about malpractice-y stuff. But it can happen, and likely will to some degree, even to people who are otherwise good doctors.
There's the marginal miss. Your patient comes back with a local recurrence at the edge of your volume. Maybe you used 3mm margins when you usually use 5. Maybe you only circled disease on the PET. Maybe you didn't check the image fusion. You messed up. Were you busy that day? How did this happen? You don't remember. You do the best you can and figure out how to best salvage it.
There's the bad referral. Patient is sent to you by outside med onc and surgeon all wrapped with a neat little bow. Patient is stage X, so radiate Y here to Z. Ok. Simple enough. Everything looks good and straightforward on the surface. Like a 100 other patients you have treated. Patient recurs. Then you realize the workup that was done before the patient got to you was totally botched and miscommunicated. Again, salvage it the best you can. Always verify everything. Get the original images, reports, op notes, etc (which can still be wrong). Don't rely on second hand documentation.
Always be honest with the patient.
How do you mentally deal with a mistake? First you have to care. There are lots of rad oncs out there that just don't, unfortunately, and deal with it by denial and mentally checking out. They circle the disease on the PET, add a margin, boom done, send them on their way, no follow-up, convinced they did everything perfectly. So you strive to be better and learn from your mistakes. You have malpractice insurance for a reason (if you're convinced you are 100% immune to mistakes that could burn you, then why are you paying for it?). Mistakes happen to humans, just don't let them be borne out of gross negligence. If a mistake like that happens to you then maybe you need a hard look in the mirror, but unfortunately those that those happen to never question themselves. Sounds like you'll be just fine.