Stephen
Try a belt drive taken from the main rotor shaft, at 1/96 a high quality silicone band would do the job and given the nature of its location should be maintenance free.
You might need to add some guide pulleys to ensure the belt doesn't foul anything (lego technic springs to mind)
An alternative would be to manufacture a drive shaft made from lego technic which could also be driven from the main rotor shaft.
If you want to spend lots of money then look at how the RC Helicopter chaps overcome the problem.
Paul