Abstract: Endoscopic technology constitutes one of the cornerstones in the field of minimally invasive surgery. Nevertheless, conventional rigid endoscopes are subject to the limitations of a fixed viewing angle per device and a narrow depth of field range. To address these drawbacks, the design of a chromatic aberration-corrected endoscopic system with adjustable viewing direction and depth of field, as well as a corresponding image restoration algorithm was proposed, which was tailored for the abdominal surgical environment. The hardware architecture was composed of a miniaturized liquid prism, a solid objective lens group, and an electrowetting liquid lens. This objective lens achieved a minimum object-side resolution distance of 0.055 mm and an object-side angular resolution of 6.34 cycles per degree. The optical model of the proposed system was established. Simulation results indicate that on the basis of a 70° field of view (FOV), the system can realize dynamic viewing angle deflection of ±7.2° along both the x and y axes. Moreover, it is capable of clear focused imaging within a working distance range of 10 mm to 25 mm, while maintaining a modulation transfer function (MTF) value greater than 0.2 at 150 lp/mm. Compared with the original depth of field of the system, the observable depth was increased by approximately 68%. To rectify the additional chromatic aberration induced by viewing angle variations, an improved total variation-constrained image fusion technique was proposed, increasing the peak signal-to-noise ratio of the image by approximately 20% compared to traditional algorithms. The proposed system provides a novel approach to solving the problem that the viewing angle of traditional medical endoscopes cannot be flexibly adjusted.