An electro-polymeric articulated endoscope and method of insertion are described herein. The swing arm has a forward end and a rearward end, and is mountable on the drive shaft such that the swing arm is pivotable with respect to the drive shaft. A light receiving means is moved in the radial direction of the recording medium and, in the radial direction of the recording medium determined by such movement in the radial direction, the light receiving means is moved in the focus direction substantially orthogonally crossing the surface of the recording medium. The connecting circuit includes a filter for blocking abnormal dominant signals and passing normal signals between the bus systems.