Unless you purchase a program like DVDAfterEdit you will have to re-author the DVD. You can rip all the elements but you must start from scratch on the menu overlays and authoring.
DVDAfterEdit would allow you to drop the corrected video back into the project and rebuild the Video TS folder. The program is not cheap though. $395 and it is not the easiest program to learn.
http://dvdafteredit.com/node/1521