Pipes of various shapes constitute pipelines utilized in industrial sites. These pipes are coupled through welding, wherein complex curvatures such as a flange, an elbow, a reducer, and a branch pipe are often found. Using phased array ultrasonic testing (PAUT) to inspect weld zones with complex curvatures is faced with different challenges due to parts that are difficult to contact with probes, small-diameter pipes, spatial limitations due to adjacent pipes, nozzles, and sloped shapes. In this study, we developed a flexible PAUT probe (FPAPr) and a semi-automatic scanner that was improved to enable stable FPAPr scanning for securing its inspection data consistency and reproducibility. A mock-up test specimen was created for a flange, an elbow, a reducer, and a branch pipe. Artificial flaws were inserted into the specimen through notch and hole processing, and simulations and verification experiments were performed to verify the performance and field applicability of the FPAPr and semi-automatic scanner.