Abstract: According to the present invention there is provided a Centerless Robotic Platform (CRP) system adapted for mounting on a surface of a body. The surface body extends along a longitudinal axis and having an essentially closed cross-sectional contour. The CRP system comprises at least a first drive unit comprising one or more rolling member, at least one link unit comprising one or more rolling member, and a biasing arrangement. The drive unit and the one or more link units are adapted for attachment to one another. When mounted onto the body, the biasing arrangement is adapted to bias the rolling members to engage the surface of the body.

Abstract: A manipulator add-on unit adapted for connection to a system designed for performing operations on a body having a central axis and a surface extending about said central axis, when mounted onto said surface and further adapted for performing rotary motion about said central axis, said manipulator add-on unit comprising a housing with a drive assembly, and a manipulator arm having a longitudinal axis and articulated to said drive assembly, wherein said housing is adapted for mounting onto said system, and said drive assembly is adapted for providing said manipulator arm with at least a reciprocal axial movement in the direction of said longitudinal axis.