Therapy heads and related medical systems having an actuation assembly for controlling the position/orientation of a directional energy applicator in at least two planes are disclosed. A therapy head (20) includes an enclosure, a partition separating a lower compartment (24) from an upper compartment (22), an aperture (34) in the partition, a control arm (32) extending through the aperture (34), an actuation assembly (28) positioned within the upper compartment (22), and a directional energy applicator (30) positioned in the lower compartment (24) for transmitting energy through a window (26). The control arm (32) includes an upper end (36) disposed within the upper compartment (24) and a lower end disposed within the lower compartment (22). The actuation assembly (28) is coupled with the upper end (36) of the control arm (32) such that the control arm (32) is movable by the actuation assembly (28) in at least two planes. The directional energy applicator (30) is coupled with the lower end of the control arm (32).
