Rotatable oblique-viewing stereoendoscope

1. Rotatable, oblique-viewing stereoendoscope comprising:

a dual-pupil aperture divided to a first pupil and a second pupil, said first pupil being configured to receive a first image of an object, said second pupil being configured to receive a second image of an object;

a proximal objective assembly positioned proximally to said dual-pupil aperture, said proximal objective assembly being configured to focus said first image and said second image;

a first image sensor configured to detect said first image focused by said proximal objective assembly, and a second image sensor configured to detect said second image focused by said proximal objective assembly;

a relay system positioned distally to said dual-pupil aperture, said relay system being configured to transmit said first image and said second image toward said dual-pupil aperture;

a front optical system positioned distally to said relay system, said front optical system being further configured to produce said first image from said reflected light received through said image of said first pupil and to produce said second image from said reflected light received through said image of said second pupil; and

said front optical system comprising a folding prism, said folding prism being configured to receive reflected light reflected from said object and to direct said reflected light at an oblique angle toward said relay system, said folding prism enabling a horizontal parallax between an optical channel of said first pupil and an optical channel of said second pupil, said folding prism being rotatable with respect to said dual-pupil aperture such that a direction of view of said stereoendoscope can be rotated about a longitudinal axis of said relay system, wherein said front optical system being configured to reimage said dual-pupil aperture at a distal end thereof, thereby producing an image of said first pupil and an image of said second pupil at a distal pupil plane,

and wherein said folding prism is a double folding prism.

2. The stereoendoscope of claim 1 , wherein said proximal objective assembly, said first image sensor, and said second image sensor are positioned externally to a body of a subject.

3. The stereoendoscope of claim 1 , wherein said front optical system comprises proximal periscope prisms and a common lens assembly, and wherein said common lens assembly is configured to reimage said first pupil and said second pupil distally to said proximal periscope prisms, such that a reimaged first pupil located distally to said proximal periscope prisms and a reimaged second pupil located distally to said proximal periscope prisms, are spatially separated.

4. The stereoendoscope of claim 3 , wherein said front optical system further comprises a first channel lens assembly and a second channel lens assembly, and wherein said proximal periscope prisms direct said first image from said first channel lens assembly, and said second image from said second channel lens assembly, toward said relay system.

5. The stereoendoscope of claim 4 , wherein each of said first channel lens assembly is configured to reimage said first pupil distally to said first channel lens assembly, and wherein said second channel lens assembly is configured to reimage said second pupil distally to said second channel lens assembly.

6. The stereoendoscope of claim 1 , wherein at said distal pupil plane said image of said first pupil and said image of said second pupil are spatially separated thereby defining an Inter Pupillary Distance of said stereoendoscope.

7. The stereoendoscope of claim 1 , wherein said front optical system includes said folding prism, and is rotatable with said folding prism.

8. The stereoendoscope of claim 7 , wherein said front optical system further includes a spheroprism proximally adjacent to said folding prism.