We developed a safe, minimally invasive articulated flexible endoscopic instrument that is actuated by hydraulic pressure. Metal close coiled helical springs, chemically covered in a vapor deposit membrane of evaporated parylene make up the hydraulic pressure actuators. Made from biocompatible materials, the actuators, specifically fabricated for endoscopic tools, hydraulically extend and contract linearly. The lateral side is static and held in place by a thin polyimide tube, when hydraulic pressure is increased to elongate the actuator, causing the corresponding side to bend. Two types of unidirectional articulating endoscopes consisting of multiple bending links were successfully developed, demonstrated, and their functions were confirmed.