Yes, you can use the existing coaxial cable for "HD" cameras. These camera will need to be HD-TVI analog cameras and you will need to replace your DVR with a HD-TVI DVR.
You most likely will not be able to use the existing cable as a "fish tape" as this cable should have been secured with staples inside the walls if cabling was installed at time of building construction and not a retrofit. If you want to upgrade to IP cameras you will have to replace/install cat5 wiring for the cameras. IP cameras have to ability to do much higher resolution VS hd-tvi cameras. A hd-tvi camera and 5mp ip camera will look about the same on a 22" monitor but when you zoom in on the image you will get much better resolution/image quality with the ip camera (assuming you have a high quality ip nvr)
For ip cameras they should be POE meaing you will only need 1 cat5 to camera and no power cable.
For hd-tvi power supply you should install a CCTV specific power supply. You will need to confirm camera's power requirement of 12v dc or 24v ac and get the proper power supply.
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