  This article presents the design and assembly of a novel magnetically
actuated endoscopic laser scanner device. The device is designed to perform 2D
position control and high speed scanning of a fiber-based laser for operation
in narrow workspaces. The device includes laser focusing optics to allow
non-contact incisions and tablet-based control interface for intuitive
teleoperation. The performance of the proof-of-concept device is analysed
through controllability and the usability studies. The computer-controlled
high-speed scanning demonstrates repeatable results with 21 um precision and a
stable response up to 48 Hz. Teleoperation user trials, were performed for
trajectory-following tasks with 12 subjects, show an accuracy of 39 um. The
innovative design of the device can be applied to both surgical and diagnostic
(imaging) applications in endoscopic systems.
