<B>Abstract:</B> A technique to obtain real time 3D images from a 3-mm diameter camera using single objective and complementary multi bandpass filters is being developed in the Nano and Micro Systems group at JPL. In addition, a Multi-Angle, Rear-Viewing Endoscopic tooL (MARVEL) that uses this miniature stereo-camera at its head with microactuators to access areas not in direct line of sight is also in development. The application of this tool is in minimally invasive neurosurgeries (MINs) that afford highly limited space for operation. For NASA, this development gives a tool to perform close-up inspection of unweathered geological features through drilled bores or rock fissures. This talk will focus on the initial results that demonstrated the proof-of-concept using COTS optics, lithographically-defined thin film multi bandpass optical filters, and micromachined gears. The speakers will explain the principles behind this technology, show initial videos from rotation and stereoscopic imaging, share future plans, and non-medical uses of this technology.