Abstract: A lancing crawler or head crawls along a no-tube lane (NTL) on a floor defining a reference plane oriented transverse to tubes of a steam generator, and has nozzles that generate lancing fluid jets along at least two different angles in the reference plane spaced apart by at least 45°. A rotational drive rotates the nozzles about an axis of rotation that may be offset from an axis of thrust imposed by the jets from the nozzles. An on-board sighting laser may be mounted with the nozzles, along with an on-board camera. A bladder expands to secure the lancing crawler or head between steam generator tubes adjacent the NTL. Each nozzle may include a taperlock seat. A nozzle tilt drive is configured to tilt the one or more nozzles respective to the reference plane.