Systems and methods for internal tissue penetration

A medical system includes an inner core and an imager located at the distal end of the inner core, wherein the imager is extendable from within an elongated tubular member and configured to penetrate a body tissue within a living body. The elongated tubular member is configured to slideably receive the inner core. The inner core is configured to rotate radially around a longitudinal axis of the elongated member, and the imager can be configured to image a body tissue and output an image signal to an imaging system communicatively coupled with the imager. The imaging system is configured to generate an image of the body tissue from the image signal of the imager when the imager is rotated and placed into contact with the body tissue.