Inspection system and method for inspecting a surface

A method for inspecting a surface, the method comprising the steps of:

• providing a macromanipulator comprising an inspection end configured to be disposed proximal to the surface, wherein the macromanipulator is movable with respect to the surface;
• providing a micromanipulator coupled to the inspection end of the macromanipulator, the micromanipulator comprising:
• a housing:
• a pair of guide rails at least partially disposed within and fixedly coupled to the housing;
• a probe support slidably coupled to the pair of guide rails;
• an actuating arm disposed within the housing and coupled to the probe support via a scotch yoke mechanism;
• and
• an actuating mechanism configured to rotate the actuating arm relative to the housing, and wherein the scotch yoke mechanism is configured to translate the probe support in response to the rotation of the actuating arm such that the probe support slides along the pair of guide rails;
• providing a probe coupled to the probe support for inspecting the surface;
• moving, via the macromanipulator, the micromanipulator relative to the surface at a plurality of inspection regions on the surface;
• translating, via the actuating mechanism, the probe relative to the housing of the micromanipulator at each of the plurality of inspection regions;
• and
• inspecting, via the probe, the surface while the probe is moving relative to the housing of the micromanipulator at each of the plurality of inspection regions.