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Relay systems in rigid endoscopes can compensate for aberrations in the objective and the eyepiece. Five classes of rigid relay systems are examined: conventional; glass Hopkins; plastic lens, glass-rod Hopkins; modified Hopkins; and gradient index. First-order theory, including achromatization, is developed for these systems. Design results are presented, and aberration, vignetting, and system length trade-offs are analyzed.
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Tomkinson et al. (1996) studied this question.
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