An endoscope is provided. The endoscope incorporates a disposable flexible endoscope shaft that comprises an insertion tube and a distal articulating section. The insertion tube comprises a central core, two or more pull wires, each located with a concentric compression coil, an outer braid, and an outer sheath. The distal articulating section comprises a deformable element for articulating the distal tip. In an alternative embodiment, the distal articulating section comprises of a plurality of articulating links that, when assembled, create a plurality of concentric tab and socket pivot joints, said plurality of concentric tab and socket joints being alternatingly located in two perpendicular planes when the central axis of all links are aligned. Each concentric tab and socket joint providing the means for rotation in a single axis. Methods of manufacturing are also disclosed.
