Manipulator for rotating and translating a sample holder

Manipulator for rotating a sample holder round a rotation axis and translating said sample holder along a translation axis, said sample holder showing at least one outer surface with rotational symmetry round the rotation axis, the so-named driven surface, the manipulator comprising:na base,multiple members, each member showing a surface, the so-named driving surface, each of the driving surfaces movable with respect to the base along the translation axis, andactuators to move the members with respect to the base,characterized in thatthe actuators are linear actuators equipped to cause a movement along the translation axis,at least two driving surfaces face each other, andthe driving surfaces are equipped to clasp the at least one driven surface between them,as a result of which the sample holder rotates round the rotation axis when the at least two driving surfaces are moved along the translation axis over an equal distance in opposite directions, and the sample holder is translated parallel to the translation axis when the driving surfaces are moved along the translation axis over an equal distance in the same direction, and as a result of which the rotation axis and the translation axis are perpendicular to each other.

A manipulator for translating and rotating a sample holder for holding a microscopic sample, comprising;na base;multiple arms extending substantially parallel to each other from the base, each arm having a longitudinal axis and having a first driving surface facing a second driving surface on an opposing arm, the first and second driving surfaces supporting the sample holder; andone or more actuators for moving the multiple arms along their longitudinal axes, such that when the arms are moved an equal distance in the same direction, the sample holder is translated without rotation in the direction of the longitudinal axis, and when the arms are moved an equal distance in opposite directions, the sample holder is rotated without translation.

A method of observing a sample in a microscope, comprising:nproviding a manipulator for manipulating a sample under the microscope, the manipulator including:na base;multiple arms extending substantially parallel to each other from the base, each arm having a longitudinal axis and having a first driving surface facing a second driving surface on an opposing arm, the first and second driving surfaces supporting the sample holder; andone or more actuators for moving the multiple arms along their longitudinal axes, such that when the arms are moved an equal distance in the same direction, the sample holder is translated without rotation in the direction of the longitudinal axis, and when the arms are moved an equal distance in opposite directions, the sample holder is rotated without translation;positioning the work piece in contact with the first and second driving surfaces;driving the two arms to position the sample within the microscope; andobserving the sample using the microscope.