Abstract: A method which may effectively provide an endoscope or other surgical instrument with a synthetic multi-camera array may comprise capturing using one or more cameras located at a distal tip of the surgical instrument, a set of images comprising first and second images. For each image in such set of images, that image may be captured by a corresponding camera from the one or more cameras, may be captured when the distal dip of the instrument is located at a corresponding point in space. Such a method may also comprise generating a three dimensional image based on compositing representations of a structure in the first and second image after applying a non-rigid transformation to one or more of those representations.