Over the last few years, Petrobras has sought to reduce divers’ exposure to risk, as well as reduce this dependence on human diving in its underwater activities and reducing critical resources that impact underwater interconnections. A subsequent de-risking phase of the principal technological gaps and critical engineering activities were structured to support a robust solution to be installed and validated in a full-scale prototype tool. All feasibility studies indicated the need development of tools that can be less impacted by the relative movements between floating platforms and ROVs (Remotely Operated Vehicle) in shallow water operations, allowing bellmouth preparation operations, for example. This paper presents the challenges that Petrobras has been facing to perform the pull in and pull out of flexible pipes with ROV in scenarios made to operate with divers.