all I know is the original game by namco appeared in 1986 in the arcades followed by a 99% perfect port onto the pc engine in 1990.
According to Wikipedia:
he leading character is a real Japanese samurai called Taira no Kagekiyo (平景清), he died during the Battle of Dan-no-ura. In Genpei ToumaDen, he was resurrected and fights Minamoto no Yoshitsune (源義経) and Saito Musashibo Benkei (武蔵坊弁慶) over the Imperial Regalia of Japan, as well as to defeat his enemy Minamoto no Yoritomo (源頼朝). (The characters mentioned above did exist in Japan.)
The game also involved "Sanzunokawa" (The Sanzu River; literally "Trifurcate Rivers") (三途川), a place mentioned Buddhism in Japan which was said to be separating "the current life" and "the afterlife", resembling the concept Underworld or Hell (The river is often identified with the River Styx in Greek Mythology). Therefore, some mythological characters like Emma-o (閻魔大王; litereally "Enma Dai-o"), god of the Underworld, and Sun Goddess Amaterasu (ja:天照大神) appear in the game.
The link is here:
http://en.wikipedia.org/wiki/Genpei_ToumaDenBut I cant find info on that tv episode either and yea I saw that clip on youtube months ago.