An insertion tool, comprising: a housing having proximal and distal ends with a sealed chamber therebetween, the distal end having a flange configured to engage with a flange of a valve assembly coupled to a pressurized vessel to allow the sealed chamber to fluidly communicate with the pressurized vessel; a hollow inner shaft slidably disposed through a proximal opening in the proximal end of the housing, through the sealed chamber, and through a distal opening in the distal end of the housing such that, when the insertion tool is coupled to the pressurized vessel via their respective flanges (130, 230) the hollow inner shaft is operable to be advanced distally into the valve assembly toward an interior portion of the pressurized vessel, the hollow inner shaft having a distal end and an inner lumen that is sealed from the sealed chamber and that is configured to receive an inspection tool therein; and an optically transparent member directly coupled to the distal end of the hollow inner shaft, a portion of the optically transparent member being optically transparent to allow viewing therethrough by the inspection tool, wherein the optically transparent member includes an optically transparent member housing welded to the distal end of the hollow inner shaft, the optically transparent member housing including a plurality of optically transparent window portions rated for high-pressure environments, the plurality of optically transparent window portions welded to the distal end of the hollow inner shaft and disposed circumferentially around the optically transparent member housing and on a distal-facing end of the optically transparent member housing providing a 360-degree field of view, the optically transparent member housing further including a cylindrical glass portion mounted within the optically transparent member housing. a housing having proximal and distal ends with a sealed chamber therebetween, the distal end having a flange configured to engage with a flange of a valve assembly coupled to a pressurized vessel to allow the sealed chamber to fluidly communicate with the pressurized vessel; a hollow inner shaft slidably disposed through a proximal opening in the proximal end of the housing, through the sealed chamber, and through a distal opening in the distal end of the housing such that, when the insertion tool is coupled to the pressurized vessel via their respective flanges (130, 230) the hollow inner shaft is operable to be advanced distally into the valve assembly toward an interior portion of the pressurized vessel, the hollow inner shaft having a distal end and an inner lumen that is sealed from the sealed chamber and that is configured to receive an inspection tool therein; and an optically transparent member directly coupled to the distal end of the hollow inner shaft, a portion of the optically transparent member being optically transparent to allow viewing therethrough by the inspection tool, wherein the optically transparent member includes an optically transparent member housing welded to the distal end of the hollow inner shaft, the optically transparent member housing including a plurality of optically transparent window portions rated for high-pressure environments, the plurality of optically transparent window portions welded to the distal end of the hollow inner shaft and disposed circumferentially around the optically transparent member housing and on a distal-facing end of the optically transparent member housing providing a 360-degree field of view, the optically transparent member housing further including a cylindrical glass portion mounted within the optically transparent member housing.