A Compact LaserSteering EndEffector for Transoral Robotic Surgery Laryngeal cancer treatments, while curative, often lead to voice impairment. Minimally invasive surgical methods that facilitate greater preservation of healthy tissue have recently emerged, but they are still limited in important ways. In this work, we describe a device that combines the advantages of the two primary minimally invasive approaches: the high quality incision and reduced postoperative pain achievable with transoral laser microsurgery and the superior visualization and tissue manipulability afforded by transoral robotic surgery. Our 11 mm diameter scanning system connects to focusing optics and a fiber optic laser source and can direct a laser beam across a 18xc3x9710 mm plane with controllable trajectories at speeds up to 7ms. We describe its design and benchtop validation and present avenues for further development within a clinical environment. While oncological treatment is a natural first application area for this technology, we anticipate that it may also yield important benefits for the minimally invasive treatment of benign laryngeal diseases.

The CALM System: New Generation ComputerAssisted Laser Microsurgery This paper introduces a new generation of the motorized laser micromanipulator: The computerassisted laser microsurgery system (CALM). The system has a motorized laser micromanipulator and a graphics tablet for intuitive laser position control. The CALM system is proposed to be used in Transoral Laser Microsurgery (TLM) for accurate resections at the surgical site. This paper focuses on the technical design and control of the new motorized micromanipulator, based on a 2 degreesoffreedom spherical orienting mechanism to actuate the beamsplitter mirror. The design takes into account the constraints of the surgical setup and the mechanical space requirements in TLM. The CALM prototype has been validated through preliminary comparative user trials demonstrating that the laser positioning accuracy improves by 60% over the traditional manual system. CALM provides an intuitive mechanism and interface for improved surgical accuracy and surgical outcomes.