A medical imaging device comprising: a color separation prism that has a dichroic film configured to split light into first light belonging to a visible light wavelength band and second light belonging to a fluorescence wavelength band; a fluorescence image sensor that is provided at an output side of the color separation prism and that is configured to image at least part of the second light belonging to the fluorescence wavelength band separated by the dichroic film; a visible light image sensor that is provided at the output side of the color separation prism and that is configured to image at least part of the first light belonging to the visible light wavelength band separated by the dichroic film; and a bandpass filter that is disposed between the color separation prism and the fluorescence image sensor, wherein the fluorescence image sensor and the visible light image sensor are arranged such that an optical path difference between an optical path length of a fluorescence optical path for the second light imaged on the fluorescence image sensor via the color separation prism and an optical path length of a visible light optical path for the first light imaged on the visible light image sensor via the color separation prism corresponds to an amount of a shift between a fluorescence imaging position and a visible light imaging position, the shift being generated by an imaging lens positioned at an input side of the color separation prism, and wherein the fluorescence imaging position is an imaging position of filtered second light, which results from passing the second light through the bandpass filter, such that the amount of shift is based on the filtered second light. a color separation prism that has a dichroic film configured to split light into first light belonging to a visible light wavelength band and second light belonging to a fluorescence wavelength band; a fluorescence image sensor that is provided at an output side of the color separation prism and that is configured to image at least part of the second light belonging to the fluorescence wavelength band separated by the dichroic film; a visible light image sensor that is provided at the output side of the color separation prism and that is configured to image at least part of the first light belonging to the visible light wavelength band separated by the dichroic film; and a bandpass filter that is disposed between the color separation prism and the fluorescence image sensor, wherein the fluorescence image sensor and the visible light image sensor are arranged such that an optical path difference between an optical path length of a fluorescence optical path for the second light imaged on the fluorescence image sensor via the color separation prism and an optical path length of a visible light optical path for the first light imaged on the visible light image sensor via the color separation prism corresponds to an amount of a shift between a fluorescence imaging position and a visible light imaging position, the shift being generated by an imaging lens positioned at an input side of the color separation prism, and wherein the fluorescence imaging position is an imaging position of filtered second light, which results from passing the second light through the bandpass filter, such that the amount of shift is based on the filtered second light.