Methods are disclosed for performing operations such as cleaning, inspection or data acquisition on an internal surface of a hollow cylindrical tubular. Preferred embodiments include providing at least one reel on which a hollow articulated lance is spooled. Tools or sensors, for example, are installed on a distal end of each lance. Hoses, electrical conduits, conductors or other similar carrier hardware inside each hollow lance supply the tools or sensors as required. A stabbing mechanism causes the reel to spool and unspool the lance so that the tools or sensors reciprocate up and down the inside of the rotating tubular.