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Been away from this post for awhile but project still in back of my mind?? Help.
As for making it "steerable" like an endoscope, that's probably quite tricky.
By the way, an endoscope is a medical device (endo = inside) for use inside living critters; it's sterilizable (usually a liquid solution) without harm to the scope, and a borescope is industrial, for use on machinery & such. It isn't sterilizable.