I have an idea on how one could see inside the event horizon of a black hole (supermassive variety so as to minimize the tidal forces near the event horizon). First orbit your space ship around the black hole a safe distance from the event horizon. Then launch an imaging probe with a tether attached into the black hole. Retrieve the probe and look at your pictures.

The reason this might work is that you are not dealing with escape velocity needing to be greater than the speed of light This would be similar to the space shuttle dropping a tethered probe close to the surface of the Earth then reeling it back in - no need to achieve escape velocity.