It would need to be wired as I want it to go down a pipe and there would be a live feed to inspect. Camera would need some LEDs (6-8) to give adequate lighting. I've done a bit research and know a slip ring will be needed.
How big is your pipe?
I am assuming you already have a way to transmit video signal over 200m.
I would put the Arduino, stepper driver and motor on the robot. To power the arduino and motor, I would put 12V or 24V over a cable, and use a pair of wires to command the arduino (i.e. pan left, pan right). 12 or 24V to 5V converters are easily available.
CAT5 is very convenient and cheap, and you have 8 cores to play with. You can probably send the over it as well. If you need more commands than pan left/right, I would consider using an RS485 interface to send commands over, but it sounds like that would not be needed for this project.