This inspection is performed so that the insurance company can determine whether or not the vessel is an acceptable risk. They are normally interested in structural integrity, safety for its intended use, and the vessels fair market value.
Yacht surveys for insurance condition purposes cover much the same ground as pre-purchase surveys though the scope is reduced in terms of detail (unless requested otherwise).
Most insurance companies require a survey on older boats, special units yachts and ships, and to insure a vessel which it is changing her registered flag.