A plasma torch aiming to assist the detritiation process of Tokamak tiles in gaps and zones with difficult access, like in the divertor regions was designed and built up. The torch operation is based on the expansion of a radiofrequency discharge constrained to burn in a limited space. The plasma torch is small size, flexible and compatible with mounting on a robotic arm, and can be operated stable both in argon and nitrogen at low and atmospheric pressure. The capability of source in cleaning surfaces was proved by experiments on material removal from graphite and CFC tiles.