The invention relates to an endoscope comprising, in a distal part, a dichroic prism assembly (P1-P7) configured to receive light from an object image through an entrance face of the dichroic prism assembly, the dichroic prism assembly comprising a first prism (P3) and a further dichroic prism assembly (P5, P6, P7) for splitting light in three light components, the first prism having a cross section with at least five corners, each corner having an inside angle of at least 90 degrees. The corners of the first prism are designed so that an incoming beam which enters the entrance face in a direction parallel to a normal of said entrance face is reflected twice inside the first prism and exits the first prism through an exit face parallel to a normal of said exit face, wherein the normal of the entrance face and the normal of the exit face are perpendicular to each other, and wherein the dichroic prism assembly comprises a compensator prism (P4) between the first prism and the further dichroic prism assembly. The invention also relates to an endoscope and a medical imaging system using such a dichroic prism assembly.
