Basically, I'd need to find a way to adapt a camera to take video through a borescope. Camera-borescope adapters exist, but I have some very strict regulations to deal with, so the adapter has to be custom made. The problem is that the camera and lens combo I'd likely have to use don't necessarily have the specs to make this work easily. The lens has a very long MOD (minimum object distance), too long to effectively see through the borescope. The adapter would have to be 40cm long, and the video feed would likely just be a tiny circle of light at the end of a long, black tunnel

Here are some specs:
Camera sensor: 1/4" CMOS
Focal Length: 3.4mm
Aperture: F3.5
Back Focal Length: 3.4mm
Lens Field of View (D x H x V): 108° x 84.1° x 62.3°
Operation: Fixed iris, manual focus
Distortion: -33.56%
Minimum Object Distance: 40cm
Probable diameter of image from borescope: ~10mm
Here's a possible candidate for the borescope. The eyepiece and focusing ring would unfortunately have to be removed for my application, and replaced with the custom adapter.
My questions:
How would one go about selecting a second lens to "zoom" in on the borescope and produce a clear image? I have a bunch of given info, and I bet there's a set of theories/equations out there that would point to a good choice. I've been smurfing around the web but I'm definitely missing some information.
Is the MOD value set in stone? I've played around with this camera before, and it was possible to see things with some clarity at distances less than the specified MOD of 40cm.
Am I over thinking this? Would placing the camera in such a way that its field of view is filled by the image from the borescope actually work, its technically focusing 40cm down the scope?
Thank you in advance kind strangers. If this project doesn't fall through, I'll still know more than I did before