Over the years, Konami released two Goemon-related Original Video Animations (OVA). The first animation "Ganbare Goemon - Jigen Shiro No Akumu" was released in 1993. The second "Ganbare Goemon - Chikyuu Kyuushutsus Akusen" in 1998.
The OVA were released on VHS and were avaliable in shops in Japan for a while. More information on these OVA can be located below, as well as downloaded from the site.