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<!-- DFIN New ActiveDisclosure (SM) XBRL Schema Document - http://www.dfinsolutions.com/ -->
<!-- Creation Date :2023-11-09T15:52:34.0168+00:00 -->
<!-- Copyright (c) 2023 Donnelly Financial Solutions, Inc. All Rights Reserved. -->
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  <xsd:element id="lnsr_CostOfGoodsAndServiceExcludingAmortizationIncludingDepreciation" name="CostOfGoodsAndServiceExcludingAmortizationIncludingDepreciation" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_ScheduleOfAntidilutiveSecuritiesExcludedFromCalculationOfNetLossPerShareDilutedSharesTableTextBlock" name="ScheduleOfAntidilutiveSecuritiesExcludedFromCalculationOfNetLossPerShareDilutedSharesTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_SecuritiesPurchaseAgreementDate" name="SecuritiesPurchaseAgreementDate" type="xbrli:dateItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_SeriesARedeemableConvertiblePreferredStockAndSeriesAAndSeriesBWarrantsMember" name="SeriesARedeemableConvertiblePreferredStockAndSeriesAAndSeriesBWarrantsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_SeriesAConvertiblePreferredStockMember" name="SeriesAConvertiblePreferredStockMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_FairValueOfWarrantLiabilitiesAssumptionsExpectedVolatility" name="FairValueOfWarrantLiabilitiesAssumptionsExpectedVolatility" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_WarrantLiabilitiesNoncurrent" name="WarrantLiabilitiesNoncurrent" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_EmployeeRetentionCreditCaresActRetentionAmountRecognized" name="EmployeeRetentionCreditCaresActRetentionAmountRecognized" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationThereafter" name="EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationThereafter" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_ReductionOfGeneralAndAdministrativeExpenses" name="ReductionOfGeneralAndAdministrativeExpenses" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_DisclosureOfConvertiblePreferredStockTable" name="DisclosureOfConvertiblePreferredStockTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_AccruedCustomerAdvances" name="AccruedCustomerAdvances" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_RevenueFromContractsWithCustomersLineItems" name="RevenueFromContractsWithCustomersLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_ContingentMilestonePayments" name="ContingentMilestonePayments" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_PercentageOfEarningsLossAllocatedToCommonShareholders" name="PercentageOfEarningsLossAllocatedToCommonShareholders" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationNextTwelveMonths" name="EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationNextTwelveMonths" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_PaymentForNetSettlementOfStockBasedCompensationAwards" name="PaymentForNetSettlementOfStockBasedCompensationAwards" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_OfferingCosts" name="OfferingCosts" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_TemporaryEquityStockIssuedDuringPeriodSharesNewIssues" name="TemporaryEquityStockIssuedDuringPeriodSharesNewIssues" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_ScheduleOfContractBalancesLineItems" name="ScheduleOfContractBalancesLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_AssociatedProfessionalFeesToBeRecognized" name="AssociatedProfessionalFeesToBeRecognized" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_WarrantLiabilitiesDisclosureTextBlock" name="WarrantLiabilitiesDisclosureTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_MinimumPercentageOfBeneficialOwnerOfCommonStockUponConversion" name="MinimumPercentageOfBeneficialOwnerOfCommonStockUponConversion" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_StockIssuedDuringPeriodValueEmployeeBenefitPlanNetOfForfeitures" name="StockIssuedDuringPeriodValueEmployeeBenefitPlanNetOfForfeitures" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_StockAndWarrantsIssuedDuringPeriodSharesCommonStockAndWarrants" name="StockAndWarrantsIssuedDuringPeriodSharesCommonStockAndWarrants" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_ContingentMilestonePaymentsUponCommercialization" name="ContingentMilestonePaymentsUponCommercialization" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_TwoThousandTwentyIncentiveAwardPlanMember" name="TwoThousandTwentyIncentiveAwardPlanMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_DeferredRevenueMember" name="DeferredRevenueMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfSharesAvailableForGrantGrantedOrAwarded" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfSharesAvailableForGrantGrantedOrAwarded" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_TransferFromInventoriesToEquipmentUnderLeaseNet" name="TransferFromInventoriesToEquipmentUnderLeaseNet" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationRemainderOfFiscalYear" name="EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationRemainderOfFiscalYear" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_FairValueOfWarrantLiabilitiesAssumptionsDividends" name="FairValueOfWarrantLiabilitiesAssumptionsDividends" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_ConvertiblePreferredStockLineItems" name="ConvertiblePreferredStockLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_ScheduleOfContractBalancesTable" name="ScheduleOfContractBalancesTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_LessorOperatingLeaseRemainingLeaseTerm" name="LessorOperatingLeaseRemainingLeaseTerm" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_AccountsReceivablesPaymentTerms" name="AccountsReceivablesPaymentTerms" type="xbrli:durationItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_ExercisePriceRangeTwoMember" name="ExercisePriceRangeTwoMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_FairValueOfWarrantLiabilitiesAssumptionsRiskFreeInterestRate" name="FairValueOfWarrantLiabilitiesAssumptionsRiskFreeInterestRate" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_AgreementDate" name="AgreementDate" type="xbrli:dateItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_EquipmentUnderLeaseNet" name="EquipmentUnderLeaseNet" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_TransferFromInventoriesToPropertyAndEquipmentNet" name="TransferFromInventoriesToPropertyAndEquipmentNet" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_ExercisePriceRangeFiveMember" name="ExercisePriceRangeFiveMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_ContingentMilestonePaymentsUponRegulatoryClearanceAndCommercialization" name="ContingentMilestonePaymentsUponRegulatoryClearanceAndCommercialization" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_NotesReceivableInterestRate" name="NotesReceivableInterestRate" type="dtr-types:percentItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_LeasesMember" name="LeasesMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_ProvisionForDoubtfulAccountsAndNotesReceivable" name="ProvisionForDoubtfulAccountsAndNotesReceivable" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_CommitmentsAndContingenciesDisclosureLineItems" name="CommitmentsAndContingenciesDisclosureLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_NotesAndOtherReceivablesNoncurrentMember" name="NotesAndOtherReceivablesNoncurrentMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_CommitmentsAndContingenciesDisclosureTable" name="CommitmentsAndContingenciesDisclosureTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_SeriesAWarrantsAndSeriesBWarrantsMember" name="SeriesAWarrantsAndSeriesBWarrantsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_IssuanceOfWarrants" name="IssuanceOfWarrants" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationYearTwo" name="EmployeeServiceShareBasedCompensationNonVestedAwardsTotalCompensationCostNotYetRecognizedShareBasedAwardsOtherThanOptionsFutureAmortizationYearTwo" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfSharesAvailableForGrantCancelledOrForfeited" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfSharesAvailableForGrantCancelledOrForfeited" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_OverviewAndBasisOfPresentationTable" name="OverviewAndBasisOfPresentationTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_SummaryOfUnrecognizedStockBasedCompensationExpenseExpectedToBeAmortizedTableTextBlock" name="SummaryOfUnrecognizedStockBasedCompensationExpenseExpectedToBeAmortizedTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_OtherGeographicalRegionMember" name="OtherGeographicalRegionMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_AtTheMarketMember" name="AtTheMarketMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_SummaryOfChangesInFairValueOfWarrantLiabilitiesTableTextBlock" name="SummaryOfChangesInFairValueOfWarrantLiabilitiesTableTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_EmployeeRetentionCreditCaresActContingentProfessionalFees" name="EmployeeRetentionCreditCaresActContingentProfessionalFees" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_ExercisePriceRangeOneMember" name="ExercisePriceRangeOneMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_OverviewAndBasisOfPresentationLineItems" name="OverviewAndBasisOfPresentationLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_RedeemableConvertiblePreferredStockTextBlock" name="RedeemableConvertiblePreferredStockTextBlock" type="dtr-types:textBlockItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_AccruedOfferingCosts" name="AccruedOfferingCosts" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="lnsr_ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfSharesAvailableForGrantAuthorized" name="ShareBasedCompensationArrangementByShareBasedPaymentAwardNumberOfSharesAvailableForGrantAuthorized" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="lnsr_SeriesAAndSeriesBWarrantsMember" name="SeriesAAndSeriesBWarrantsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="lnsr_ContractWithCustomerAssetRecognised" name="ContractWithCustomerAssetRecognised" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="lnsr_BasicWeightedAverageNumberOfSharesOfCommonStockAndParticipatingSecurities" name="BasicWeightedAverageNumberOfSharesOfCommonStockAndParticipatingSecurities" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
</xsd:schema>
