Insertion tool and method

A system for operating an insertion tool arm in a cavity of a gas turbine engine, the system comprising:

• an insertion tool arm having a position sensor;
• a base coupled to the insertion tool arm, the base having at least two degrees of freedom and including movable members;
• and
• a controller operably coupled with the position sensor and the base, the controller configured to:
• receive first data from the position sensor, the first data indicative of a position of the insertion tool arm within a cavity of a gas turbine engine;
• receive second data indicative of a relative motion between the gas turbine engine and at least one of the base or the insertion tool arm;
• and
• move the movable members of the base to move the base relative to the gas turbine engine, thereby moving the insertion tool arm along at least two degrees of freedom in response to the first data and the second data to avoid a collision between the insertion tool arm and a component defining the cavity by maintaining a clearance between the insertion tool arm and a component defining an access opening of the gas turbine engine or the component defining the cavity.