There is provided a non-destructive inspection device having an actuating portion and at least one inspecting portion. The inspecting portion(s) are magnetically coupled to the actuating portion so that the inspecting portion(s) may be moved into limited-access areas to inspect features of a structure. The inspecting portion(s) each include at least one inspection sensor that transmits and/or receives signals that, when processed, indicate defects in the features of the structure. The actuating portion may include a handle for manual movement of the inspection device, or alternatively may include a motorized drive wheel for motorized positioning of the inspection device. A positional encoder device, such as an encoder wheel or optical encoder, may also be included in the actuating portion or inspecting portion(s) to monitor the location of the inspection device for more accurate or informative inspection results.