Endoscopic camera arrangement and method for camera alignment error correction

A laparoscopic camera arrangement comprising:

• a laparoscopic camera comprising an elongated shaft extending along a center axis from a proximal end to a distal end and adapted for being introduced into an animal's or human's body;
• a camera system comprising an objective with a light entry window at the distal end of the elongated shaft, the camera system comprising a camera unit with an image converter optically coupled to the objective for receiving an optical image, the objective having an optical path running through the light entry window;
• at least one optical marker placed within the optical path at the distal end of the elongated shaft for being depicted on the image converter;
• a position indicator rigidly connected to the elongated shaft of the laparoscopic camera, the position indicator being configured to detect a position and orientation of the elongated shaft;
• a location system connected to the laparoscopic camera, the location system being configured to locate the laparoscopic camera relative to a position of the animal's or human's body;
• and
• an image processing unit configured to detect a displacement of the at least one optical marker on the image converter due to a misalignment of the objective relative to the image converter, and to correct position data, obtained by the position indicator measuring the position and orientation of the elongated shaft, based on the displacement of the at least one optical marker detected by the image processing unit through a homography projection transformation relating the at least one optical marker to the image converter.