Method and apparatus for programmable robotic rotary mill cutting of multiple nested tubulars

A cutting tool for cutting a tubular having a tubular bore, the tubular being capable of being disposed in a well bore, comprising:

• (a) a tool body configured to be lowered into the tubular bore, the tool body having a longitudinal Z-axis, a W-axis of rotation generally perpendicular to the Z-axis, and an anchoring system attached to the tool body, the anchoring system having engaged and non-engaged conditions, wherein during the engaged condition the tool body is anchored relative to the tubular, and during the non-engaged position the tool body is not anchored relative to the tubular;
• (b) the tool body including a cutting head movably connected to the tool body in both the Z and W axes, the tool body supporting a drive system that includes a first motor drive and a second motor drive;
• (c) the cutting head being coupled to the first motor drive, wherein the first motor drive causing the cutting head to be moved in the W-axis of rotation relative to the tool body;
• (d) the cutting head being coupled to the second motor drive, wherein the second motor drive causing the cutting head to be moved in the Z-axis relative to the tool body;
• (e) the cutting head including:
• a spindle housing pivotally connected to the cutting head at a pivot, the pivot being located at a first elevation, the spindle housing having:
• (i) an elongated cutting member with distal and proximal ends, and the elongated cutting member being rotationally connected to the spindle housing, the elongated cutting member having a longitudinal axis spanning between its first and second ends, (ii) the spindle housing having a first lower distal end portion and second upper proximal end portion, the upper proximal end portion being connected to the cutting head at the pivot, the spindle housing and elongated cutting member being able to travel through an arcuate path having first and second extreme arcuate positions, wherein the first extreme arcuate position is more closely aligned with the Z-axis compared to the second extreme arcuate position, and the second extreme arcuate position is more closely aligned with the W-axis compared to the first extreme arcuate position;
• (f) an arcuate actuator operatively connected to the spindle housing, the actuator having actuator first and second end portions, the first end portion being mounted to the cutting head at an elevational position which is below the first elevation, and at the other of its end portions being mounted to the spindle housing at a position also below the first elevation, the actuator moving the spindle housing and elongated cutting member between first and second extreme arcuate positions;
• and
• (g) a third motor drive operably connected to the elongated cutting member causing the elongated cutting member to rotate about the elongated cutting member's longitudinal axis and relative to the spindle housing.