Fig. 1. Schematic diagram of ureteroscope

Fig. 2. Schematic diagram of reflective prism

Fig. 3. Cross sectional view of steering wedge

Fig. 4. 3D diagram of objective lens subsystem

Fig. 5. MTF curves of objective lens subsystem

Fig. 6. 3D diagram of eyepiece subsystem

Fig. 7. MTF curves of eyepiece subsystem

Fig. 8. 3D diagram of endoscope system

Fig. 9. MTF curves of endoscope system

Fig. 10. Field curvature and distortion diagrams of endoscope system