Stereoscopic-vision endoscope offering a large angle of introversion and a necessary and sufficient sense of three-dimensionality

摘要

A stereoscopic-vision endoscope of the present invention comprises a tubular elongated insertional part, an objective optical system situated in the insertional part, a relay optical system situated in the insertional part for transmitting an object image formed by the objective optical system, a pupil dividing stop for dividing a light beam emanating from an object image formed by the relay optical system into a plurality of portions, an image formation optical system for receiving light beams from the pupil dividing stop so as to form a plurality of object images having parallax, and imaging devices for picking up the object images formed by the image formation optical system. The relay optical system satisfies the condition phi 2/L>0.43 (where phi denotes an outer diameter of a system of relay lenses, and L denotes a relay length of the relay optical system).