A body-insertable imaging device includes a first camera that comprises a first image sensor and a first lens to pass incident light onto the first image sensor, a control interface to receive a remotely generated control signal, and an actuator communicatively coupled to the control interface and configured to support the camera and manipulate the camera about a pan axis, a tilt axis, and along a zoom direction in response to the control signal while the camera and actuator are within a body cavity, wherein the zoom direction extends out from a distal end of the body-insertable camera.