  Soft growing vine robots show great potential for navigation and
decontamination tasks in the nuclear industry. This paper introduces a novel
hybrid continuum-eversion robot designed to address certain challenges in
relation to navigating and operating within pipe networks and enclosed remote
vessels. The hybrid robot combines the flexibility of a soft eversion robot
with the precision of a continuum robot at its tip, allowing for controlled
steering and movement in hard to access and/or complex environments. The design
enables the delivery of sensors, liquids, and aerosols to remote areas,
supporting remote decontamination activities. This paper outlines the design
and construction of the robot and the methods by which it achieves selective
steering. We also include a comprehensive review of current related work in
eversion robotics, as well as other steering devices and actuators currently
under research, which underpin this novel active steering approach. This is
followed by an experimental evaluation that demonstrates the robot's real-world
capabilities in delivering liquids and aerosols to remote locations. The
experiments reveal successful outcomes, with over 95% success in precision
spraying tests. The paper concludes by discussing future work alongside
limitations in the current design, ultimately showcasing its potential as a
solution for remote decontamination operations in the nuclear industry.
