A method for manufacturing complex hollow composite parts with at least one internal structure formed in situ by laying laminated layers around a removable mandrel assembled inside the part's inner cavity. The inner mandrel is made up of two jig plate assemblies aligned in a parallel manner and space apart where the internal structure is to manufactured. Each jig plate assembly is made up of at least three jig plates stacked in an edge-to-edge manner Located on opposite sides of each jig plate assembly is an elastic envelope filled with spherical objects. When evacuated, the envelope collapses and relaxes and composite material may then laid up inside the inner cavity and around the envelopes. When exposed to a heat, the envelopes expand and in situ and form internal structures inside surface of the cavity. Each envelope and each jig plate assemblies can be easily dissembled and reused.