Relay systems in rigid endoscopes can compensate for aberrations in th
e 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 pr
esented, and aberration, vignetting, and system length trade-offs are
analyzed. (C) 1996 Optical Society of America