MiniCap is a miniature capsule which will be able to move autonomously in the irrigated joint fluid and to transmit images to a receiver which will be located outside of the body. The miniCup will include a miniature vision system that is able to transmit the information to a receiver out of the body. It will use an autonomous propulsion and steering system to maneuver within the irrigated joint. An external localization system will follow the location of miniCup in real-time and project it on a 3D model of the organ. In order to go through the dense joint compartments, the system size is targeted to be 3mm in diameter and 10mm in length. MiniCap introduction into the patient body will be through the same hole the surgical tool is inserted, thus further reducing the procedure invasiveness.