This device will technically do what you want:
http://www.computermodules.com/broadcast-systems/ucm4540.shtml
But the problem is the digital systems are way more complex than the old analog systems. Most of the cable boxes today need to be pre-authorized for each channel they receive and/or they also check with the head-end to make sure they are authorized to tune a particular channel.
Also, with the older analog systems, each channel corresponded to particular frequency range. With digital cable and the QAM modulation, channel 399 isn't necessarily a specific frequency. So you need to know absolutely what frequency range is not being used by the cable system, notch that out of the main cable feed, modulate the camera signal, inject it, and then work with the cable co. to make sure the boxes know how/where to find your in-house channel.
Your best bet would be to start by contacting the cable provider, they may be able to do this easier than you think, but I doubt you're going to be able to totally do it without some involvement from them.