Abstract: An improved remotely-operated high-pressure water-jet sludge lancing system for removing sludge from the secondary side of steam generators, the system including an end effector and a deployment system. The end effector includes two diametrically opposed articulated nozzle heads having water jet nozzles attached thereto. The nozzle heads are pivotally mounted to respective pneumatic extension arm actuators that are accommodated in respective arms. The arms are attached in a collinear relation to opposing sides of a centrally located drive means, which allows for the rotational positioning of the nozzle heads. The deployment system for delivering and supporting the end effector includes a self-erecting load-bearing chain and a segmented support rail having a straight section and a curved section. The chain is suspended from the support rail by hangers and cylinder rollers.