Insertion tool for inspection

An insertion tool for performing a profilometry operation on equipment, the insertion tool comprising:

• a tube including a flexible section comprising at least two joints for articulating the flexible section into different shapes, the flexible section selectively configurable between an unrigidized state and at least a first rigid state having a first non-linear shape;
• an end effector coupled to a distal end of the tube and comprising a sensor head, the sensor head to direct a beam toward a target area of the equipment to perform the profilometry operation;
• a waveguide extending through the tube, the waveguide to transmit the beam from an electromagnetic source to the end effector and to transmit electromagnetic signals from the end effector to a profilometry detecting device;
• and
• an end effector actuator to move the beam at the target area,
• wherein the end effector is axially spaced from an insertion axis of the insertion tool when the flexible section is in the first rigid state to obtain off-axis profilometry measurements at the target area.