A mid-infrared optical parametric oscillator (OPO) with the idler wavelengths of 3591 nm, 3384 nm, and 3164 nm at the repetition of 76.8 kHz is reported, and a high repetition frequency acousto-optic Q-switched Nd:YVO4 laser is used as the pump source. The OPO is designed as an external non-colinear single-resonator optical parametric oscillator. When the power of the pump light is 25.1 W, the idler with the wavelength of 3164 nm and the power of 4.3 W is generated. The corresponding signal light is 1603 nm with the power of 3.1 W. The efficiency from 1064 nm to 3160 nm can reach as high as 17.1%, and the efficiency of the OPO is 29.5%.