Viewing a particular region of an object with high magnification is essentially significant in both fundamental research and practical applications, however, imaging the sample from multi-direction is still very challenging for current microscopes. Herein, a centered miniature rotation robot under microscopy is presented to achieve multi-directional imaging of small objects. First, the miniature rotatable robot is constructed by three nano motors, including one rotational and two linear-motors. Then, a new centering strategy of neighborhood-window difference is proposed to center the micro/nano sample onto the rotation axis of the robot (error less than 20 pixels). In experiments, the sample is tested to be imaged from multi-direction (360°) by rotating the robot continuously. To highlight the versatility of this system, we demonstrate the multi-directional imaging under both optical microscope (OM) and scanning electron microscope (SEM). Compared with current techniques, this system is able to provide richer morphology information at small scale benefiting from the multi-directional imaging, which is expected to have long-term impacts on microscopy observation, micro defect inspection, nanomaterial characterization and other related fields.

中文翻译：

---

显微镜下用于多方向成像的微型旋转机器人的定心

以高倍率观察物体的特定区域在基础研究和实际应用中都具有重要意义，但是，从多方向对样品进行成像对于当前的显微镜来说仍然非常具有挑战性。在此，提出了一种显微镜下居中微型旋转机器人，以实现小物体的多方向成像。首先，微型可旋转机器人由三个纳米电机构成，包括一个旋转电机和两个线性电机。然后，提出了一种新的邻域窗口差异居中策略，将微/纳米样本居中到机器人的旋转轴上（误差小于20像素）。在实验中，通过连续旋转机器人来测试样品从多方向（360°）成像。为了突出这个系统的多功能性，我们在光学显微镜 (OM) 和扫描电子显微镜 (SEM) 下展示了多向成像。与现有技术相比，该系统受益于多向成像，能够在小尺度上提供更丰富的形态信息，有望对显微镜观察、微缺陷检测、纳米材料表征等相关领域产生长期影响。