For ITER visible/IR imaging of the outer strike point from the six upper ports currently assigned, we show an optical design that provides a 4 mm Airy disk at 5 μm wavelength at the farthest point in the field of view (much smaller in the visible), with as complete toroidal coverage of the vertical target as possible. Plasma and optical effects provide fundamental limits on the performance and design of the system. Some effects involve interactions of the surfaces with the plasma, such as plasma transport and deposition of material on the surfaces to be viewed, plasma damage to those surfaces, and molecular emission by the plasma at IR wavelengths. We discuss a detailed optical design including the endoscope concept, entrance aperture and collection head, relay optics, and camera specifications and performance. We assess integration times for capture of IR emission from surfaces and visible line emission predicted by boundary modeling.