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Most stereo imaging tools require the use of multiple optical channels to achieve slightly different viewing angles around an object of interest, which inevitably increases overall size and structural complexity compared to single imaging systems. In this study, a translating lens device is developed to generate stereo images especially for endoscopic applications through a single-objective lens setup. A silicon comb-drive translates a miniature lens across the optical axis in front of an optical circuit to create different viewing angles through a single optical channel. Up to ±50 μm of lens translation has been tested at 24 VDC providing stereo acquisition for 3D perception. Coupling 3D viewing capability and the size advantage of a single endoscopic optical system, this technology aims to enhance the operator's visual perception without sacrificing the endoscope's size.