If you have any of the books as an ebook, on the iPhone there is a great text to voice reader that has a number of lifelike voices. I'd link, but I think that's against the rules. It's not great for great literature, but a computer voice seems appropriate for Trek books. I'm currently listen to the first Destiny book that way.
On the other hand, I always wished that Pocket Books would look the other way for something like a fan-sourced Librivox, where we'd read the out of print books for share. I know, fantasy.