The present disclosure provides an apparatus for removing material from an internal surface of a pipe. The apparatus comprises a low-power cutting tool for insertion into the pipe and configured to remove material from an internal surface of the pipe. The cutting tool comprises a housing for insertion within the pipe, a cutting head extending from the housing and a cutting tip for machining the internal surface of the pipe in a machining operation when the cutting tool is inserted into the pipe, and one or more actuators for driving the cutting tip. The apparatus further comprises one or more processors, and a computer-readable memory storing instructions which, when executed by the one or more processors, control the one or more actuators to cause the cutting tip to machine the internal surface of the pipe, such that the cutting tool is maintained in a low-power configuration.

A hollow rod developable actuator tool including a cylinder defining the outer circumference of the hollow rod, a first tool mechanism, and a second tool mechanism. The hollow rod developable actuator tool transitions from a first closed state wherein the first tool mechanism and second tool mechanism are contained entirely within the outer circumference of the hollow rod to a second open state wherein the first tool mechanism and second tool mechanism extent outside the outer circumference of the hollow rod.

The present disclosure provides an apparatus for removing material from an internal surface of a pipe. The apparatus comprises a low-power cutting tool for insertion into the pipe and configured to remove material from an internal surface of the pipe. The cutting tool comprises a housing for insertion within the pipe, a cutting head extending from the housing and a cutting tip for machining the internal surface of the pipe in a machining operation when the cutting tool is inserted into the pipe, and one or more actuators for driving the cutting tip. The apparatus further comprises one or more processors, and a computer-readable memory storing instructions which, when executed by the one or more processors, control the one or more actuators to cause the cutting tip to machine the internal surface of the pipe, such that the cutting tool is maintained in a low-power configuration.

A tube cutting device for cutting a tube of a waste steam generator including: a body configured to transmit power; a tube-shaped rotary body provided on a side surface of the body and having a horizontal rotary shaft configured to rotate with the power supplied from the body; a plurality of clamps provided along an outer peripheral surface of a first end portion of the rotary body and configured to fix the rotary body to the tube to be cut; a saw provided on a second end portion opposite to the first side end portion of the rotary body and configured to rotate together with the rotary body to cut the tube; and a fitting member configured to be inserted into a hollow portion formed on a center portion of the saw.