Disclosed is a folding endoscope with incorporated optical sensors and light sources. The foldable endoscope includes a housing having first and second ends and a longitudinal axis and at least one channel extending between the first and second ends and associated ports at the first and second ends for inserting surgical instruments through the housing into a surgical site. The endoscope includes three elongate arms having first and second ends and being pivotally connected at the first ends thereof to the first end of the housing. A camera and light source are mounted on each of the elongate arms such that when the elongate arms are deployed the cameras have a field of view in a generally forward direction away from the housing. A linkage mechanism is connected to the elongate arms, and an actuator is connected to the linkage mechanism. The linkage mechanism, upon activation by the actuator, is configured to pivotally deploy the three elongate arms from a closed position in which the elongate arms are aligned along the longitudinal axis to an open position with the second ends of the elongate arms radially spaced from the longitudinal axis.