A semi-rigid endoscope may include a shaft that is elongate along a longitudinal direction. The shaft including a shaft body that defines: proximal rigid portion and a flexible tip that is distal to the proximal rigid portion. The flexible tip moves along a lateral direction that is perpendicular to the longitudinal direction. The flexible tip moves along a transverse direction that is perpendicular to both the longitudinal and lateral directions. The endoscope may also include at least one conduit that extends longitudinally along an internal portion of the shaft body. The internal portion may be substantially enclosed, such that the at least one conduit transfers irrigant fluid to and from the flexible tip. The endoscope may also include a baffle that directs irrigant fluid at the flexible tip and an image sensor coupled to the flexible tip.
