In a minimally invasive surgical system (200), an image capture unit (325R) includes a lens assembly (304R) and a sensor assembly (320R). Sensor assembly (320R) includes a prism assembly (330R) and coplanar image capture sensors (310R, 315R). Each of the coplanar image capture sensors has a common front end optical structure, e.g., lens assembly (304R). A controller (260) enhances images acquired by the coplanar image capture sensors. The enhanced images may include (a) visible images with enhanced feature definition； (b) images having increased image apparent resolution； (c) images having increased dynamic range； (d) images displayed in a way based on a pixel color component vector having three or more color components； and (e) images having extended depth of field.
