Patent Publication Number: US-2007114402-A1

Title: Object inspection and/or modification system and method

Description:
CROSS REFERENCE TO RELATED APPLICATIONS  
      This application is a continuation of U.S. patent application Ser. No. 10/875,151, filed Jun. 22, 2004, which was a continuation of U.S. patent application Ser. No. 10/019,009, filed Apr. 26, 2002, which was a U.S. national phase of PCT/US00/18041, filed Jun. 30, 2000, having International Publication No. WO 01/03157 A1, which claims priority from Provisional Application 60/142,178, filed Jul. 1, 1999, all of which are hereby incorporated by reference in their entirety.  
      This application also incorporates by reference in their entirety the following U.S. applications, U.S. patents, and published PCT applications:  
      U.S. patent application Ser. No. 09/355,072, filed Jul. 21, 1999, now U.S. Pat. No. 6,337,479;  
      U.S. patent application Ser. No. 08/885,014, filed Jul. 1, 1997, now U.S. Pat. No. 6,144,028);  
      U.S. patent application Ser. No. 08/776,361, filed May 16, 1997, now U.S. Pat. No. 6,339,217;  
      U.S. patent application Ser. No. 08/906,602, filed Dec. 10, 1996, now U.S. Pat. No. 6,265,711;  
      U.S. patent application Ser. No. 08/506,516, filed Jul. 24, 1995, now U.S. Pat. No. 5,751,683;  
      U.S. patent application Ser. No. 08/827,953, filed Apr. 6, 1997, now abandoned;  
      U.S. patent application Ser. No. 08/786,623, filed Jan. 21, 1997, now abandoned;  
      U.S. patent application Ser. No. 08/613,982, filed Mar. 4, 1996, now U.S. Pat. No. 5,756,997;  
      U.S. patent application Ser. No. 08/412,380, filed Mar. 29, 1995, now abandoned;  
      U.S. patent application Ser. No. 08/281,883, filed Jul. 28, 1994, now abandoned;  
      PCT Patent Application No. PCT/US98/01528, filed Jan. 21, 1999, having International Publication No. WO 98/34092;  
      PCT Application No. PCT/US96/12255, filed Jul. 24, 1996, having International Publication No. WO 97/04449; and  
      PCT Application No. PCT/US95/09553, filed Jul. 28, 1995, having International Publication No. WO 96/03641. 
    
    
     FIELD OF THE INVENTION  
      The present invention relates generally to SPM (scanning probe microscopy) and a new application (i.e., branch or subset) of SPM known as nanomachining. In particular, it pertains to a system and method for modifying and/or inspecting an object using new and novel nanomachining and/or other SPM techniques.  
     BACKGROUND OF THE INVENTION  
      U.S. Pat. Nos. 5,308,974 and 5,418,363 issued to Elings et al. disclose a method in which a first scan to obtain the topography of a sample surface is used to guide a subsequent second scan for some other task related to the topography. As is standard in SPM applications, this topography represents a simple false surface of the object that is a function (i.e., there is only one z coordinate value for each pair of x,y coordinate values) when in fact the true surface of the object may be a complex surface that is a non-function (i.e. for at least one pair of x,y coordinate values, there is more then one z coordinate value). In other words, the topography is itself a function. The second scan is then performed along the topography, along a fixed (i.e., constant) offset of the topography, or along a function of the topography. However, such an approach is inadequate and inappropriate for use in SPM applications, such as nanomachining and the dynamic measurement of induced parametric change.  
      In particular, in nanomachining it is the complex desired surface which is the target not the pre-existing topography. Indeed, simple mathematical considerations demonstrate that simply adding or subtracting a fixed amount from an original topography can only reproduce the topography.  
      Furthermore, in nanomachining and other SPM operations, it is often necessary to perform an operation on an object or a surface or subsurface structure of the object that has a true surface or volume which is not a function. However, such a true surface or volume can never be accurately scanned by a simple offset from the true surface or volume because complex back and forth or in and out motions are required to accurately follow the true surface or volume.  
     SUMMARY OF THE INVENTION  
      In summary the present invention is an SPM object inspection and/or modification system  100  which uses new and novel nanomachining and/or other SPM techniques to inspect and/or modify an object. Specifically, it is often desired to perform nanomachining and other SPM operations on an object or a selected surface or subsurface structure of an object.  
      Thus, in a first mode, an initial inspection of the object is first performed. This may be done by making a first scan of the object with one or more SPM probes. Alternatively, it may be done without doing such a first scan (i.e., without the SPM probes) and using some of the other components of the SPM system instead.  
      In the case where the initial inspection is made with one or more SPM probes, the first scan is made along the existing surface or volume of the object or the selected structure of the object. Since the existing surface or volume may in fact be a non-function, this scan can be made because the SPM probes can be driven in complex motions, as described earlier. The SPM probes make SPM measurements from which inspection data is generated. This inspection data may represent either an inspected topography (i.e., a simple false surface that is a function), true surface (i.e., complex surface that is a non-function), or volume (i.e., non-function) of the object or the selected structure of the object. Or, it may represent an inspected parametric measurement distribution which may or may not be related to the existing surface or volume of the object or the selected structure. The actual parametric measurement distribution may or may not be a function depending on the corresponding parameter being measured and its distribution. Any non-function surface or volume can be simplified into a topographic representation whether or not the existing surface or volume is a function.  
      As mentioned earlier, the SPM probes used to make such an inspection include AFM (atomic force microscopy) probes for making AFM measurements, STM (scanning tunneling microscopy) probes for making STM measurements, light emitting and detecting probes for making NSOM (near field optical microscopy), spectrophotometric, and/or other optical measurements, hardness testing probes for hardness measurements, electromagnetic radiation emitting and detecting probes for making electromagnetic radiation measurements, charged particle emitting and detecting probes for making charged particle measurements, electrical probes for making electrical measurements, electric field probes for making electric field measurements, magnetic field probes for making magnetic field measurements, lateral force probes for making lateral force measurements. The inspection can be made with any combination of one or more of these SPM probes.  
      In the case where the initial inspection is made without doing a first scan using some of the other components of the SPM system, this may be done in such a way that the object is inspected so as to simulate or emulate its use in the environment in which it is normally used. This is done to generate the inspection data.  
      After the initial inspection is made, an SPM operation is performed by making a second scan of the object based on the inspection data. This SPM operation may be another inspection of the object or a modification of the object by nanomachining. This may be done with the same SPM probe used in the first scan and/or with one or more other SPM probes. Furthermore, this operation may be performed directly based on the inspection data or it may be performed based on guide data generated from the inspection data.  
      In the case where the SPM operation is performed directly based on the inspection data, the second scan is made along the actual topography, actual true surface, actual volume, or actual parametric measurement distribution (such as magnetic field, electric field, temperature, or other measurement distribution) represented by the target data represented by the inspection data. Since the actual true surface, actual volume, or actual parametric measurement distribution may be a non-function, the second scan can be made because the SPM probes can be driven in complex motions, as described earlier.  
      In the case where the SPM operation is performed based on guide data generated from the inspection data, the guide data may be generated by comparing the inspection data with target data representing a target topography, true surface, volume, or parametric measurement distribution. For example, if the target data and the inspection data do not match within a predefined tolerance level stored by the controller and specified by the user with the user interface  116 , the controller generates guide data for guiding the performance of a modification that needs to be made to the object to fall within the tolerance level. Furthermore, the guide data may represent a complex motion, such as a guide topography, true surface, volume, or parametric measurement distribution that is related to the actual and target topographies, true surfaces, volumes, or parametric measurement distributions. Since the actual and target true surfaces, volumes, or parametric measurement distributions may be non-functions, the complex motion may itself be a non-function. The second scan is made along the loci of this complex motion to perform the SPM operation. Again, the second scan can be made because the SPM probes can be driven in complex motions, as described earlier.  
      In the case where the SPM operation is a modification to the object, the process just described can be iteratively repeated until the generated inspection data converges to the target data so as to be within the predefined tolerance level. As will be discussed later, this mode is particularly useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes. It is also useful in direct manipulation of DNA, RNA and other biochemical elements and chemical catalysts.  
      In a second mode, the inspection data generated from the initial inspection may be used to simply locate and identify a reference point on the existing surface or volume of the object or structure of the object. This may be done by comparing the inspection data with target data for the object. Then, pre-defined or pre-generated guide data received from an external system to the SPM system is used for performing the SPM operation made with the second scan. This guide data is not generated from or based on the inspection data and may represent a complex motion, such as a guide topography, true surface, volume, or parametric measurement distribution. Then, the first mode of the SPM system may be used to further inspect and/or modify the object. This second mode is useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object is already known and the desired inspection or modification is already known or pre-defined.  
      In a third mode, an initial inspection is not even made. Instead, using well known techniques, an SPM probe is brought into contact or a known near contact with the existing surface or volume of the object or the structure of the object. In doing so, inspection data is not generated. Then, the pre-defined or pre-generated guide data received from an external system to the SPM system is used for the scan in which the SPM operation is performed. In doing, so the scan is made along the guide topography, true surface, volume, or parametric measurement distribution represented by the guide data. Once again, the first mode of the SPM system may then be used to further inspect and/or modify the object. As with the second mode, this third mode is useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object is already known and the desired inspection or modification is already known or pre-defined.  
      Moreover, in some cases the inspection data used to generate guide data need only represent the boundaries of the surface or volume of the object or the selected structure of the object. For example, the initial inspection data from an initial inspection by the SPM system  100  or from an external system to the SPM system may be analyzed by the controller to locate the guide surface or volume on which a selected structure of the object lies. This guide surface or volume is represented by initial guide data. Then, a first scan is made according to the initial guide data to generate additional inspection data representing the boundary of the structure on the guide surface or volume. In doing so, only the x,y coordinates of the points defining the boundary are recorded and stored. Then, by comparing this additional inspection data with the target data, additional guide data is generated. Then, the first mode of the SPM system may be used to further inspect and/or modify the object. This second mode is also useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object.  
      In some cases, the inspection data used to generate guide data need only represent the boundaries of a sample topography, true surface, volume, or parametric measurement distribution of the object or a selected structure of the object. For example, the inspection data from an initial inspection by the SPM system or from an external system to the SPM system may be analyzed by the controller to locate a guide topography, true surface, or volume on which a selected structure of the object lies or locate a sample parametric measurement distribution of the object. In response, the controller generates first guide data representing this guide topography, true surface, volume, or parametric measurement distribution.  
      Then, a first scan is made according to this first guide data and with respect to the guide topography, true surface, volume, or parametric measurement distribution to generate inspection data representing the boundary of the structure on the guide topography, true surface, volume, or parametric measurement distribution. In doing so, only the x,y coordinates of the points defining the boundary are recorded and stored. The points within the boundary are identified during the first scan when they substantially deviate from the corresponding point of the guide topography, true surface, volume, or parametric measurement distribution represented by the inspection data. These points are not recorded and stored.  
      Alternatively, the first scan is made according to the first guide data and with respect to the guide topography, true surface, volume, or parametric measurement distribution to generate inspection data representing a non-conforming (i.e., deviating) boundary of the guide topography, true surface, volume or parametric measurement distribution. In this case, the points within the non-conforming boundary are identified during the first scan when they substantially deviate from the corresponding point of the target topography, true surface, volume, or parametric measurement distribution represented by the target data. Thus, only the x,y coordinates of the points defining the non-conforming boundary are recorded and stored.  
      Then, the SPM operation is performed by making a second scan of the object based on the inspection data. As alluded to earlier, this may be done directly based on the inspection or guide data generated by comparing the inspection data to the target data. Then, the first mode of the SPM system may be used to further inspect and/or modify the object. This second mode is also useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object. 
    
    
     BRIEF DESCRIPTION OF DRAWINGS  
       FIG. 1  shows an SPM inspection and/or modification system for inspecting and/or modifying an object.  
      FIGS.  2  to  4  show different views of an SPM probe of the SPM system of  FIG. 1 .  
      FIGS.  5  to  8  show different views of a scanning head of the SPM system of  FIG. 1 .  
      FIGS.  9  to  11  show even more views of the SPM probe of the SPM system of  FIG. 1 . 
    
    
     DETAILED DESCRIPTION OF THE INVENTION  
      Referring to  FIG. 1 , there is shown an exemplary embodiment of an SPM (scanning probe microscopy) object inspection and/or modification system  100  which uses new and novel nanomachining and/or other SPM techniques to inspect and/or modify an object  102 . For example, as will be discussed throughout this document, the system can be used to perform tests, fabrication (i.e., manufacturing) steps, and/or repairs on semiconductor wafers and fabrication masks, lithographic structures (i.e., masters), and thin film magnetic read/write heads. Additionally, as will also be discussed throughout this document, the SPM system can also be used to analyze and/or alter biological or chemical samples.  
      The components of the SPM system  100  include a positioning system  103  that comprises a rough positioning subsystem  104 , fine positioning subsystems  106 , a support table  108 , and scanning head support structures  110 . The rough positioning subsystem  104  comprises a rough 3-D (i.e., three dimensions) translator, such as a mechanical ball screw mechanism. The rough positioning subsystem  104  is fixed to the support table  108 . Each fine positioning subsystem  106  comprises a fine 3-D translator, such as a piezoelectric translator with or without linear position feedback. Each fine positioning subsystem  106  is fixed to a corresponding scanning head support structure  110 . Each scanning support structure  110  is fixed to the support table  108 .  
      The components of the SPM system  100  also include one or more scanning heads  120 . Each scanning head  120  is fixed to a corresponding fine positioning subsystem  106  and is roughly and finely positioned in 3-D (i.e., X, Y, and Z dimensions) with the rough positioning subsystem  104  and the corresponding fine positioning subsystem  106 . This positioning may be done in order to load and unload various types of SPM probes  122  of the SPM system to and from the scanning heads  120  and position the loaded SPM probes  122  for calibration and inspection and/or modification of the object  102 . This positioning is done with respect to the object  102 , calibration structures  128 , probe suppliers  124  and  125 , a probe disposal  126 , a probe storage site  127 , and other components  123  of the SPM system.  
      The components of the SPM system  100  also include a programmed controller  114  that includes a user interface  116 . It also includes an object loader  115  that comprises a load arm  117 , a positioning system  118  connected to the load arm  117 , and an object storage unit  119 . When it is desired to inspect and/or modify the object  102 , a user of the SPM system  100  uses the user interface  116  to request that the controller  114  have the object  102  loaded by the object loader  115  for inspection and/or modification. The controller  114  controls the load arm  117  and the positioning system  103  so as to load the object  102  from the storage unit  119  onto the support stage (or object loading site)  129 . The support stage  129  is also one of the SPM system  100 &#39;s components and is located on the upper surface of the rough positioning subsystem  104 . In loading the object  102  onto the support stage  129 , the object  102  is removed from the storage unit  119  with the load arm  117 . The load arm  117  is then lowered into a recess of the support stage  129  so that the object  102  rests on the support stage  129  and no longer on the load arm  117 . The load arm  117  is then slid out of the recess. Similarly, when the inspection and/or modification of the object  102  is over, the user requests with the user interface  116  that the controller  114  have the object  102  unloaded. In response, the controller  114  controls the load arm  117  to unload the object  102  from the support stage  129  and place it back in the storage unit  119 . This is done by sliding the load arm  117  into the recess and raising it so that the object  102  rests on the load arm  117  and no longer on the support stage  129 . The load arm  117  is then used to place the object  102  back in the storage unit  119 . The object loader  115  may be a conventional semiconductor wafer or fabrication mask loader used in fabrication of wafers or masks.  
      As alluded to earlier, the components of the SPM system  100  further include SPM probes  122 , vertical and horizontal probe suppliers  124  and  125 , and a probe storage site  127 . The SPM probes  122  can be loaded onto each scanning head  120  from the vertical and horizontal probe suppliers  124  and  125  or from the probe storage site  127 . The probe storage site  127  and the probe suppliers  124  and  125  are located on the rough positioning subsystem  104 . Each probe supplier  124  and  125  may supply a different type of SPM probe  122  than any other probe suppliers  124  and  125  and comprises a stacking mechanism for stacking the same type of SPM probe  122 . This may be a spring, air, gravity, electromechanical, or vacuum driven stacking mechanism.  
      Moreover, when the user wishes to use a particular SPM probe  122  for inspecting and/or modifying the object  102 , the user instructs the controller  114  with the user interface  116  to load this SPM probe  122  onto one of the scanning heads  120 . If an SPM probe  122  of this type has already been used before and has been stored at the probe storage site  127 , the controller  114  controls the positioning system  103  to position the scanning head  120  over this site and lower it onto the SPM probe  122 . The controller  114  then controls the scanning head  120  so that the SPM probe  122  is loaded onto it. But, if a new SPM probe  122  of this type is required because one has not been used or the previously used one has become defective, the controller  114  controls the positioning system  103  to position the scanning head  120  over the probe supplier  124  or  125  that supplies the desired type of SPM probe  122  and lower it onto the SPM probe  122  that is currently at the top of the stack of the probe supplier  124  or  125 . The controller  114  then causes the SPM probe  122  to be popped off of the stack and loaded onto the scanning head  120 . In addition, in the instances described in PCT Patent Application No. PCT/US98/01528 referenced earlier where active mechanical, electrical, electromagnetic, vacuum, hydraulic, pneumatic, fluids, magnetic, or other mechanisms are integrated into the SPM probe  122 , provision is made on the SPM probe  122  and in the scanning head  120  for control connections (i.e., electrical, optical, mechanical, vacuum, etc.). As a result, the scanning head may sense optical, mechanical or electrical variations which tell the controller  114  which type of SPM probe  122  has been loaded. Thus, different types of SPM probes  122  may be loaded through the same probe supplier  124  or  125 . The different types of SPM probes  122  and probe suppliers  124  an  125  and the specific ways in which the SPM probes  122  may be loaded onto the scanning heads  120  is discussed in PCT Patent Application No. PCT/US98/01528 referenced earlier.  
      However, when the user wishes to use another one of the SPM probes  122  for inspecting and/or modifying the object  102  with the same scanning head  120 , the user instructs the controller  114  with the user interface  116  to unload the currently loaded SPM probe  122 . In response, the controller  114  controls the positioning system  103  to position the scanning head  120  so that the SPM probe  122  that is currently loaded is lowered to the probe storage site  127  on the rough positioning subsystem  104 . Then, the controller causes the SPM probe  122  to be unloaded from the scanning head  120  onto this probe storage site  127 .  
      In order to calibrate an SPM probe  122  that is loaded onto one of the scanning heads  120  and determine whether it is defective, the components of the SPM system  100  include calibration structures  128  located on the rough positioning subsystem  104 . An SPM probe  122  may be defective because of wear or because of fabrication errors. For each type of SPM probe  122 , the controller  114  stores one or more reference parameters each associated with a corresponding calibration structure  128 . The controller  114  controls the positioning system  103 , the SPM probe  122 , and some of the other components  123  of the SPM system  100  so that various types of reference measurements of the calibration structure  128  are made with the SPM probe  122  or vice versa. These reference measurements are then compared with the reference parameters. If they do not match within a predefined tolerance level stored by the controller  114  and set by the user with the user interface  116 , then the SPM probe  122  is considered to be defective. Otherwise, the controller  114  uses the reference measurements to calibrate the SPM probe  122  in the ways described in PCT Patent Application No. PCT/US98/01528 referenced earlier. Furthermore, the specific types of calibrations that can be made for the SPM probes  122  are also described in PCT Patent Application No. PCT/US98/01528 referenced earlier.  
      In addition, the components of the SPM system  100  may include one or more tip nanomachining structures  121 . At the nanomachining structures  121 , material of the tips of the SPM probes  122  may be nanomachined by abrasively lapped and/or chemically lapped off. This is done by rubbing the material of the tips against the tip nanomachining structures  121 .  
      The components of the SPM system  100  also include a probe disposal  126  which is used to dispose of (or discard) SPM probes  122  that are defective. In the case of an SPM probe  122  that is determined to be defective in the manner just described, the user can instruct the controller  114  with the user interface  116  to have the defective SPM probe  122  discarded. In response, the controller  114  controls the positioning system  103  to position the scanning head  120  over the probe disposal  126  and lower it to the probe disposal  126 . Then, the controller  114  controls the scanning head  120  to unload the currently loaded SPM probe  122  into the probe disposal  126 .  
      In an alternative embodiment, each scanning head  120  could be fixed to a corresponding rough positioning subsystem  104  and a corresponding fine positioning subsystem  106 . The probe suppliers  124  and  125 , probe disposal  126 , and the calibration structures  128  would then be located on the support table  108 . In this way, each scanning head  120  could be independently positioned with respect to the probe suppliers  124  and  125  and probe disposal  126  for loading, unloading, and disposal of the SPM probes  122  and independently positioned for positioning an SPM probe  122  with respect to the object  102  for inspection and/or modification of the object  102  and with respect to the reference structures  128  for calibration and examination of the SPM probes  122 . Moreover, in such an embodiment, there would be a corresponding scanning head  120 , a corresponding rough positioning subsystem  104 , and a corresponding fine positioning subsystem  106  for inspection and for modification.  
      The SPM probes  122  include probes with which the object  102  may be inspected in a number of ways using SPM techniques to make SPM measurements. The SPM probes used to make such an inspection include AFM (atomic force microscopy) probes for making AFM measurements, STM (scanning tunneling microscopy) probes for making STM measurements, light emitting and detecting probes for making NSOM (near field scanning optical microscopy), spectrophotometric, and/or other optical measurements, hardness testing probes for hardness measurements, electromagnetic radiation emitting and detecting probes for making electromagnetic radiation measurements, charged particle emitting and detecting probes for making charged particle measurements, electrical probes for making electrical measurements, electric field probes for making electric field measurements, magnetic field probes for making magnetic field measurements, lateral force probes for making lateral force measurements, chemical probes for making chemical combination or bond strength measurements. The various types of SPM probes used to inspect the object and the corresponding kinds of inspections they are used to make include those described in PCT Patent Application Nos. PCT/US98/01528, PCT/US96/12255, and PCT/US95/09553 referenced earlier.  
      The inspection is performed with various components of the SPM system including the controller  114 , the user interface  116 , the positioning system  103 , the scanning heads  120 , those of the calibration structures  128  used to calibrate the SPM probes  122 , and those of the other components  123  of the SPM system  100  that are used for making SPM measurements with the SPM probes  122 . In doing so, the user requests that an inspection be made with the user interface  116 . As discussed later, this inspection may be done based on inspection data or guide data generated by the SPM system  100  or an external system to the SPM system  100 . When this occurs, one or more of the SPM probes  122  are selectively loaded, calibrated, and unloaded in the manner discussed earlier for making SPM measurements of the object  102 . Moreover, for each SPM probe  122  that is used to make certain SPM measurements of the object  102 , the controller  114  controls the positioning system  103 , any of the other components of the SPM system used to make these SPM measurements, and the loaded SPM probe  122  so that these SPM measurements are made with the SPM probe  122 . The controller  114  then processes all of the SPM measurements and generates inspection data (or results) for the object. This inspection data may represent the topography of a volume or surface of the object  102  or a surface or subsurface structure of the object  102 . Or, it may represent a parametric measurement distribution related to the volume or surface of the object  102  or a surface or subsurface structure of the object  102 . It may also include an image and/or analysis of the object. The analysis may be of the electrical, optical, chemical, (including catalytic), and/or biological (including morphological) properties, operation, and/or characteristics of the object.  
      Although it may be desired to simply inspect the object  102 , certain components of the SPM system  100  are used to make a modification to the object  102 . The SPM probes  122  also include SPM probes  122  with which the modification may be made in a number of ways. This modification may be simply to remove particle contaminants on the object or more importantly to structurally and/or chemically modify the material of the object by removing, deforming, and/or chemically changing a portion of it or adding other material to it. The SPM probes used to make such a modification include SPM probes for nanomachining the object  102  by making cuts in the object  102 , milling the object  102 , vacuum arc deposition or removal of material on or from the object  102 , pumping fluid material to or from the object  102 , irradiating the object  102  with charged particles, heating the object  102 , and chemically modifying the object  102 . These SPM probes  122  and the corresponding kinds of modifications that can be made with them are further described in PCT Patent Application Nos. PCT/US98/01528, PCT/US96/12255, and PCT/US95/09553 referenced earlier. Furthermore, some of these SPM probes  122  may also be used to inspect the object as also discussed in PCT Patent Application Nos. PCT/US98/01528, PCT/US96/12255, and PCT/US95/0955.  
      The components of the SPM system  100  used for this purpose include the controller  114 , the user interface  116 , the positioning system  103 , the scanning heads  120 , those of the calibration structures  128  used to calibrate the SPM probes  122 , and those of the other components  123  of the SPM system that are used in making modifications to the object  102  with the SPM probes  122 . With the user interface  116 , the user requests that a modification be made to the object  102 . As discussed later, this modification may be performed based on inspection data or guide data generated by the SPM system  100  or based on inspection data or guide data generated by an external inspection system to the SPM system  100 . Then, one or more of the SPM probes  122  are selectively loaded, calibrated, and unloaded in the manner described earlier to make the desired modification. Furthermore, for each SPM probe  122  used to make a desired modification to the object, the controller  114  controls the positioning system  103 , any of the other components of the SPM system  100  used in making this modification, and, if needed, the SPM probe  122  so that this modification is made.  
      Controlling Positioning System to Create Complex Motion  
      The controller  114  controls the operation of the positioning system  103  shown in  FIG. 1 . In doing so, the controller  114  can individually drive the X, Y, and Z piezoelectric drives of the rough positioning subsystem  104  and can individually drive the X, Y, and Z piezoelectric drives of each fine positioning subsystem  106 .  
      In order to perform the SPM measurements of the kind described earlier, the controller  114  can control the positioning of the SPM probes  122  that are used to make SPM measurements in the conventional way. This involves moving such an SPM probe  122  from scan point to scan point with respect to the object  102  by only driving the positioning system  103  in one of the X, Y, and Z dimensions at a time during the scan. Specifically, in order to position the tip of such an SPM probe  122 , the positioning system  103  is driven in only the X dimension or only in the Y dimension in order to move from one scan point to another scan point. Moreover, the positioning system  103  is not driven in the Z dimension simultaneously while it is driven in the X or Y dimension. Instead, the positioning system  103  is under the servo (i.e., feedback) control of the controller  114  in the Z dimension. As a result, positioning of such a probe in the Z dimension is done separately at each scan point. This is typically done in order to prevent the tip of the SPM probe  122  from crashing into the object  102 .  
      However, the controller  114  can also control the positioning of the SPM probes  122  that are used to make SPM measurements in a non-conventional way. Specifically, the controller  114  controls positioning of such an SPM probe  122  by moving it with respect to the object  102  by driving the positioning system  103  in all three of the X, Y, and Z dimensions simultaneously to perform the SPM measurements. Thus, the tip of such an SPM probe  122  can be moved in a series of 3-D (three dimensional) vectors to pass through the loci (i.e., points with X, Y, and Z coordinate values) of a selected complex motion. The selected complex motion formed with this series of 3-D vectors may define a larger 3-D vector, arc, curve, surface, or volume and may not be a function. As a result, the SPM probe  122  can be moved with such a complex motion in and out of and up and down along the surface or volume of the object  102  or a subsurface or surface structure of the object  102  to make the SPM measurements. In view of the foregoing, this surface or volume may in fact not be a function.  
      As mentioned earlier, the SPM system includes SPM probes for making modifications to the object  102  by nanomachining the object  102 . For example, the object may be nanomachined by making cuts in or milling the object  102 . The controller  114  controls positioning of such an SPM probe  122  in a complex motion in a similar manner to that just discussed by driving the positioning system  103  in all three of the X, Y, and Z dimensions simultaneously to perform the nanomachining operation. This means that the tip of such an SPM probe  122  can also be moved in a series of 3-D (three dimensional) vectors to pass through the loci of the selected complex motion. Thus, the complex motion of the tip of such an SPM probe can be a series of 3-D vectors defining a larger 3-D vector, arc, curve, surface, or volume. As a result, the tip of the SPM probe  122  can be moved along a selected complex motion that is not even a function to make the modification.  
      This process is also applicable to performing the sweeping motions described earlier. In this way, 2-D or 3-D sweeping motions can be performed for sweeping away debris particles that are caused by modifications made with the SPM probes  122 .  
      Inspection and/or Modification Modes  
      It is often desired to perform nanomachining and other SPM operations on an object or a selected surface or subsurface structure of an object  102 . In a first mode of the SPM system  100 , an initial inspection of the object  102  is first performed. This may be done by making a first scan of the object  102  with one or more of the SPM probes  122 . Alternatively, it may be done without doing such a first scan (i.e., without the SPM probes  122 ) and using some of the other components  123  of the SPM system  100  instead.  
      In the case where the initial inspection is made with one or more SPM probes, the first scan is made along the existing surface or volume of the object  102  or the selected structure of the object  102 . Since the existing surface or volume may in fact be a non-function, this scan can be made because the SPM probes can be driven in complex motions, as described earlier. The SPM probes make SPM measurements from which inspection data is generated. This inspection data may represent either an inspected topography (i.e., a simple false surface that is a function), true surface (i.e., complex surface that is a non-function), or volume (i.e., non-function) of the object  102  or the selected structure of the object  102 . Or, it may represent an inspected parametric measurement distribution which may or may not be related to the existing surface or volume of the object  102  or the selected structure. The actual parametric measurement distribution may or may not be a function depending on the corresponding parameter being measured and its distribution. Any non-function surface or volume can be simplified into a topographic representation whether or not the existing surface or volume is a function.  
      As mentioned earlier, the SPM probes  122  used to make such an inspection include AFM (atomic force microscopy) probes for making AFM measurements, STM (scanning tunneling microscopy) probes for making STM measurements, light emitting and detecting probes for making NSOM (near field optical microscopy), spectrophotometric, and/or other optical measurements, hardness testing probes for hardness measurements, electromagnetic radiation emitting and detecting probes for making electromagnetic radiation measurements, charged particle emitting and detecting probes for making charged particle measurements, electrical probes for making electrical measurements, electric field probes for making electric field measurements, magnetic field probes for making magnetic field measurements, lateral force probes for making lateral force measurements. The inspection can be made with any combination of one or more of these SPM probes  122 .  
      In the case where the initial inspection is made without doing a first scan using some of the other components  123  of the SPM system  100 , such an inspection may be made in the manner described in PCT Patent Application Nos. PCT/US98/01528, PCT/US96/12255, and PCT/US95/0955 referenced earlier. For example, this may be done in such a way that the object  102  is inspected so as to simulate or emulate its use in the environment in which it is normally used to generate the inspection data.  
      After the initial inspection is made, an SPM operation is performed by making a second scan of the object  102  based on the inspection data. This SPM operation may be another inspection of the object  102  or a modification of the object  102  by nanomachining. This may be done with the same SPM probe  122  used in the first scan and/or with one or more other SPM probes  122 . Furthermore, this operation may be performed directly based on the inspection data or it may be performed based on guide data generated from the inspection data.  
      In the case where the SPM operation is performed directly based on the inspection data, the second scan is made along the actual topography, actual true surface, actual volume, or actual parametric measurement distribution (such as magnetic field, electric field, temperature, or other measurement distribution) represented by the target data represented by the inspection data. Since the actual true surface, actual volume, or actual parametric measurement distribution may be a non-function, the second scan can be made because the SPM probes can be driven in complex motions, as described earlier.  
      In the case where the SPM operation is performed based on guide data generated from the inspection data, the guide data may be generated by comparing the inspection data with target data representing a target topography, true surface, volume, or parametric measurement distribution. For example, if the target data and the inspection data do not match within a predefined tolerance level stored by the controller  114  and specified by the user with the user interface  116 , the controller  114  generates guide data for guiding the performance of a modification that needs to be made to the object  102  to fall within the tolerance level. Furthermore, the guide data may represent a complex motion, such as a guide topography, true surface, volume, or parametric measurement distribution that is related to the actual and target topographies, true surfaces, volumes, or parametric measurement distributions. Since the actual and target true surfaces, volumes, or parametric measurement distributions may be non-functions, the complex motion may itself be a non-function. The second scan is made along the loci of this complex motion to perform the SPM operation. Again, the second scan can be made because the SPM probes can be driven in complex motions, as described earlier.  
      In the case where the SPM operation is a modification to the object  102 , the process just described can be iteratively repeated until the generated inspection data converges to the target data so as to be within the predefined tolerance level. As will be discussed later, this mode is particularly useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes. It is also useful in direct manipulation of DNA, RNA and other biochemical elements and chemical catalysts.  
      In a second mode, the inspection data generated from the initial inspection may be used to simply locate and identify a reference point on the existing surface or volume of the object  102  or structure of the object  102 . This may be done by comparing the inspection data with target data for the object  102 . Then, pre-defined or pre-generated guide data received from an external system to the SPM system  100  is used for performing the SPM operation made with the second scan. This guide data is not generated from or based on the inspection data and may represent a complex motion, such as a guide topography, true surface, volume, or parametric measurement distribution. For example, the complex motion may be a previously calculated shape or loci, such as the shape of a particular feature on a semiconductor mask derived from an electronic database of shapes and positions corresponding to a desired guide mask, which describes the cut motion of the tip of the SPM probe  122 . The reference point in this case may be some local structure. Then, the first mode of the SPM system  100  may be used to further inspect and/or modify the object  102 . This second mode is useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object  102  is already known and the desired inspection or modification is already known or pre-defined.  
      In a third mode, an initial inspection is not even made. Instead, using well known techniques, an SPM probe is brought into contact or a known near contact with the existing surface or volume of the object  102  or the structure of the object  102 . In doing so, inspection data is not generated. Then, the pre-defined or pre-generated guide data received from an external system to the SPM system  100  is used for the scan in which the SPM operation is performed. In doing, so the scan is made along the guide topography, true surface, volume, or parametric measurement distribution represented by the guide data. Once again, the first mode of the SPM system  100  may then be used to further inspect and/or modify the object  102 . As with the second mode, this third mode is useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object  102  is already known and the desired inspection or modification is already known or pre-defined.  
      Moreover, in some cases the inspection data used to generate guide data need only represent the boundaries of the surface or volume of the object  102  or the selected structure of the object  102 . For example, the initial inspection data from an initial inspection by the SPM system  100  or from an external system to the SPM system  100  may be analyzed by the controller  114  to locate the guide surface or volume on which a selected structure of the object  102  lies. This guide surface or volume is represented by initial guide data. Then, a first scan is made according to the initial guide data to generate additional inspection data representing the boundary of the structure on the guide surface or volume. In doing so, only the x,y coordinates of the points defining the boundary are recorded and stored. Then, by comparing this additional inspection data with the target data, additional guide data is generated. Then, the first mode of the SPM system  100  may be used to further inspect and/or modify the object  102 . This second mode is also useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object  102 .  
      In some cases, the inspection data used to generate guide data need only represent the boundaries of a sample topography, true surface, volume, or parametric measurement distribution of the object  102  or a selected structure of the object  102 . For example, the inspection data from an initial inspection by the SPM system  100  or from an external system to the SPM system  100  may be analyzed by the controller  114  to locate a guide topography, true surface, or volume on which a selected structure of the object  102  lies or locate a sample parametric measurement distribution of the object  102 . In response, the controller  114  generates first guide data representing this guide topography, true surface, volume, or parametric measurement distribution.  
      Then, a first scan is made according to this first guide data and with respect to the guide topography, true surface, volume, or parametric measurement distribution to generate inspection data representing the boundary of the structure on the guide topography, true surface, volume, or parametric measurement distribution. In doing so, only the x,y coordinates of the points defining the boundary are recorded and stored. The points within the boundary are identified during the first scan when they substantially deviate from the corresponding point of the guide topography, true surface, volume, or parametric measurement distribution represented by the inspection data. These points are not recorded and stored.  
      For example, in nanomachining of a semiconductor mask, in some cases it is desirable to inspect the surface in the general area to be nanomachined so as to determine the orientation of the plane which is coplanar with the glass or quartz substrate on which the Chrome of the mask lies. As mentioned earlier, the inspection data representing this surface may be generated by the SPM system  100  or by an external system to the SPM system  100 . The inspection data is then analyzed to determine this plane. Then, inspection data representing the boundary (i.e., the x,y coordinates) of the initial distribution of Chrome with respect to this plane is generated in the manner just discussed. Then, based on this inspection data and the target data representing the desired distribution of Chrome, a guide data set is generated for removing the excess Chrome.  
      Alternatively, the first scan is made according to the first guide data and with respect to the guide topography, true surface, volume, or parametric measurement distribution to generate inspection data representing a non-conforming (i.e., deviating) boundary of the guide topography, true surface, volume or parametric measurement distribution. In this case, the points within the non-conforming boundary are identified during the first scan when they substantially deviate from the corresponding point of the target topography, true surface, volume, or parametric measurement distribution represented by the target data. Thus, only the x,y coordinates of the points defining the non-conforming boundary are recorded and stored.  
      Referring to  FIG. 9 , in both cases, the controller  114  causes the first scan to be made at scan points along a selected direction. The controller  114  discontinues the first scan when a point A of one edge of the topographic, true surface, volume, or parametric boundary is reached. In other words, when a deviation occurs at point A. The controller  114  then resumes the scan when a pre-defined skip distance D is reached. This skip distance D is pre-defined based on the type of inspection being made. If there is no deviation at this scan point, then the controller  114  continues the scan in the selected direction. However, if there is still a deviation at this scan point, then the controller  114  discontinues the first scan for another skip distance D and the temporary total skip distance  2 D is added and stored. This process is repeated until no deviation occurs (i.e., the guide topography, surface, volume, or parametric measurement distribution is reached). A corresponding return motion is used to determine the point B of the other edge of the topographic, true surface, volume, or parametric boundary. Once this opposite edge is found, the temporary total skip value  2 D is used to fly to or past the original edge A of the boundary before the scan is continued.  
      In this way, the first scan has exactly bracketed the surface, volumetric, or parametric boundary for further use or measurement. This reduces the data requirement for measurement or modification of the object  102  and substantially decreases the scan time of the first scan.  
      Then, the SPM operation is performed by making a second scan of the object  102  based on the inspection data. As alluded to earlier, this may be done directly based on the inspection or guide data generated by comparing the inspection data to the target data. Then, the first mode of the SPM system  100  may be used to further inspect and/or modify the object  102 . This second mode is also useful in fabrication and/or repair of semiconductor wafers and fabrication masks, lithographic structures, thin film magnetic read/write heads, and SPM probes where the type of object  102 .  
      SPM Probe  122  and Housing  120  Configuration  
      Referring now to  FIG. 2 , there is shown one type of SPM probe  122  for use in inspecting and/or modifying the object  102 . This particular SPM probe  122  may be used to make SPM measurements of the object  102 , such as AFM, STM, NSOM, spectrophotometric, and/or other optical measurements, and/or it may be used to make modifications to the object  102  by making cuts in the object  102 . This SPM probe  122  is of the type disclosed in PCT Patent Application Nos. PCT/US98/01528, PCT/US96/12255, and PCT/US95/0955 referenced earlier.  
      The SPM probe  122  has a base  130  and apertures (or openings)  132  that define corresponding inner perimeter surfaces  134  of the base. The probe also has several cantilevers  136  each connected to the base and extending into a corresponding aperture. On each cantilever is a corresponding tip  138 . Each cantilever and corresponding tip form a corresponding SPM tool  137  that is used in making the SPM measurements and/or cuts (i.e., modifications). This SPM tool  137  is attached to the base, disposed in the corresponding aperture, and framed (or surrounded) by the corresponding inner surface of the base.  
      As shown in  FIG. 3 , when not engaged for inspecting and/or modifying the object  102 , each SPM tool  137  of the SPM probe  122  is normally kept in the corresponding aperture  132  between the upper and lower surfaces  140  and  142  of the base  130  so that the tool, and in particular the tip  138 , is protected from being damaged during loading onto and unloading from one of the scanning heads  120 . Moreover, referring to  FIG. 1 , the probe may be supplied by one of the probe suppliers  124  that has a vertical stacking mechanism and extends vertically up through the rough positioning subsystem  104 . In such a probe supplier, the probe can be vertically stacked on top of other probes of this type without damaging the tools of the probe.  
      Furthermore, referring to  FIG. 3 , each tool  137  of the probe  122  can be used to make NSOM, spectrophotometric, and/or other optical measurements in order to inspect the object  102 . Thus, for each tool of the probe, the probe includes a corresponding lens  147  and lens support  149  that supports the lens. As with the tip and cantilever of each tool, the lens and lens support for each tool may be integrally formed together with the base  130  or the base may be formed on and around the lens support. This is also done using conventional semiconductor manufacturing techniques.  
      Referring to  FIGS. 4   a  and  4   b , the lens  147  of each tool  137  may include a clamping device  400  to provide clamping of the cantilever  136  of the tool  137 . An optically transparent insulating layer  401 , such as silicon dioxide, is formed on the lower surface of the lens  147  (or similar support member) or the upper surface of the cantilever  136 . For STM and/or NSOM measurements and for making cuts in the object  102 , the controller  114  causes the clamping circuit  404  of the other components  123  of the SPM system  100  to apply an appropriate voltage between the lens  147  and the cantilever  136  so as to form a capacitive structure which electrostatically clamps the motion of the cantilever  136 . Those skilled in the art will appreciate that this configuration can additionally be used to damp, drive, or detect the motion of the cantilever  136  depending on how the tool  137  is being used.  
      Alternatively, the clamping device  400  may comprise optically transparent and conductive coil patterns  402  and  403  respectively formed on the lower surface of lens  147  and the upper surface of the cantilever  136 , as shown in  FIG. 4   c . The coil patterns  402  and  403  may be formed from Indium Tin Oxide. For STM and/or NSOM measurements and for making cuts in the object  102 , the controller  114  causes the clamping circuit  404  to apply voltages to the coil patterns  402  and  403  so that their currents are opposite in direction. As a result, an attractive magnetic field is created which immobilizes (i.e., clamps) the cantilever  136 . Those skilled in the art will appreciate that one of the coil patterns  402  or  403  may be replaced with a permanent magnet formed with a thin film of samarium cobalt or other permanently magnetizable material. Moreover, this arrangement may also be used to damp, drive, or detect the motion of cantilever depending on how the tool  137  is being used.  
       FIGS. 10   a  and  10   b  show other alternative configurations for the clamping device  400 . In this case, the SPM probe  122  comprises a cantilever assembly  405  that comprises a base  406 , the cantilever  136 , the tip  138 , and the clamping device  400 . The clamping device  400  comprises a clamping arm  407  integrally connected to the base  406 . The lens  147  and the lens support  149  of the SPM probe  122 , which are shown in  FIG. 2  and described earlier, are not shown in  FIGS. 10   a  and  10   b  for ease of illustration. The clamping arm  407  is L-shaped and extends out from the base  406  past and adjacent to the free end  410  of the cantilever  136 . The clamping arm  407  has slots  408  which form action joints  409  at the closed ends of the slots  408 .  
      In the configuration shown in  FIG. 10   a , heating elements  411  are disposed on the clamping arm  407  at the action joints  409 . For STM and/or NSOM measurements and for making cuts in the object  102 , the controller  114  causes the clamping circuit  404  to generate a clamping arm movement signal provided to the heating elements  411 . The heating elements  411  are responsive to the clamping arm movement signal and heat the action joints  409  so that the clamping arm  407  thermally expands at the action joints  409  and the free end  412  of the clamping arm  407  moves in and presses firmly against the free end  410  of the cantilever  136 . As a result, the cantilever  136  is immobilized and held rigidly against the clamping arm  407 .  
      Alternatively, an electrode  413  may be fixed to the clamping arm  407 , as shown in  FIG. 10   b . In response to the clamping arm movement signal provided by the clamping circuit  404 , the electrode  413  applies an electrostatic charge to the clamping arm  407 . As in the configuration of  FIG. 10   a , the clamping arm  407  expands at the action joints  409  so that the free end  412  of the clamping arm  407  moves in and presses against the free end  410  of the cantilever  136 .  
       FIGS. 11   a  and  11   b  show other alternative configurations for the clamping device  400 . Here, a clamping structure  414  that is integrally formed with the base  406  and surrounds the cantilever  136 . The clamping structure  414  has slots  415  which form action joints  416  at the closed ends of the slots  415 . Similar to the embodiment of  FIG. 10   a , heating elements  411  are disposed on the clamping structure  414  at the action joints  416 . For STM and/or NSOM measurements and for making cuts in the object  102 , the controller  114  causes the clamping circuit  404  to generate a clamping structure movement signal provided to the heating elements  411 . The heating elements  411  heat the action joints  416  so that the clamping structure  414  expands at the action joints  416  and the clamping arms  417  of the clamping structure  414  move in and press firmly against the sides of the cantilever  136 .  
      Alternatively, an electrode  413  may be fixed to the clamping structure  414 , as shown in  FIG. 11   b . Similar to the configuration of  FIG. 10   a , the electrode  413  applies an electrostatic charge to the clamping structure  414  in response to the clamping structure movement signal provided by the clamping circuit  404 . As in the configuration of  FIG. 11   a , the clamping structure  414  expands at the action joints  416  and the clamping arms  417  move in and press against the sides of the cantilever  136 .  
      Referring back to  FIG. 2 , and as mentioned earlier, the probe  122  has multiple tools  137  each comprising a cantilever  136  and a tip  138  on the cantilever. Thus, when the tip of one of the probe&#39;s tools is determined to be defective in the manner to be described later, then another one of the probe&#39;s tools with a tip determined not to be defective can be used for inspecting the object  102  without having to load another probe of this type.  
       FIG. 5  shows the way in which the probe  122  is loaded onto one of the scanning heads  120 . The scanning head includes a housing  154  with a probe holding plate  156 . As shown in  FIG. 6 , the probe holding plate includes a seat  158  formed by a recess in the probe holding plate that is in the shape of the base of the probe and seats (or holds) the probe. And, the other components  123  of the SPM system  100  include a rotary cam assembly  160  that is formed in the probe holding plate. Thus, when the probe is being loaded onto the scanning head in the manner described earlier, the controller  114  controls the rotary cam assembly so that its rotary cam rotates and presses against the probe and locks it into place in the seat of the probe holding plate. In this way, the probe is loaded onto the scanning head. Similarly, when the probe is being unloaded from the scanning head in the manner described earlier, the controller controls the rotary cam assembly so that the rotary cam rotates and no longer presses against the probe and unlocks it from the seat of the probe holding plate.  
      Furthermore, as shown in  FIG. 3 , the base  130  of the SPM probe  122  has a tapered outer perimeter surface  157  so that the bottom surface  142  has an area larger than that of the top surface  140 . In addition, referring to  FIG. 6 , the bottom surface has an area larger than that of the recess that forms the seat  158  in the probe holding plate  156 . Thus, as shown in  FIG. 5 , when the probe is loaded onto one of the scanning heads  120 , the base of the probe is wedged into the recess so that the probe is properly seated in the seat of the scanning head&#39;s probe holder  156  with no movement between the probe and the probe holding plate.  
      Referring now to  FIGS. 5 and 7 , fixed to the probe holding plate  156  are tip actuators  174  that are each used to selectively activate and deactivate a corresponding tip  138  of the SPM probe  122  for use in inspecting the object  102 . Each tip actuator includes an L-shaped lever arm  170 , a pivot  171 , an engagement transducer  172 , and an adjustment transducer  173 . The L-shaped lever arm has one end fixed to the engagement and adjustment transducers and a rounded end that extends into an aperture  159  in the seat  158  of the probe holding plate  156 . The engagement and adjustment transducers may each comprise a material, such as a piezoelectric material or a resistive metal (e.g., Nickel Chromium alloy), which change dimensions when a voltage or current signal is applied to it. Alternatively, electromagnetic or electrostatic transducers or actuators could be used.  
      The other components  123  of the SPM system  100  also include a tip actuator control circuit  175 . In selectively activating the tip  136  of one of the SPM tools  137  of the SPM probe  122 , the controller  114  causes the control circuit to control the change in dimension of the engagement transducer  172  of the corresponding tip actuator  174  so that it pushes up on the end of the lever arm  170  to which it is fixed. In response, the lever arm pivots on the pivot  171  and, as shown in  FIG. 8 , the rounded end of the lever arm extends down through the aperture  159  in the seat  158  of the holding plate  156  and into the corresponding aperture  132  of the probe. In doing so, the rounded end engages and presses against the corresponding cantilever  136  so as to push down on it. As a result, the cantilever bends so that the tip  138  on the cantilever is moved below the lower surface  142  of the base  130  of the probe and is activated for operation in inspecting the object  102 . Similarly, the tip is selectively deactivated when the controller controls the change in dimension of the engagement transducer  172  of the corresponding tip actuator so that it pulls down on the end of the lever arm to which it is fixed. In response, the lever arm pivots on the pivot and the rounded end of the lever arm extends up so that the cantilever bends up until the tip is located above the lower surface of the base. As a result, and tip is then protected against being damaged.  
      In alternative embodiment, each tool  137  of the probe  122  may include an electrostatic (i.e., capacitive) tip actuator. Such a tip actuator would be configured and operate like those described in PCT Patent Application Nos. PCT/US98/01528 referenced earlier.  
      Referring to  FIG. 5 , each scanning head  120  has imaging optics  226 . The imaging optics are used to make an optical image of the object for properly inspecting the object  102  with the probe  122 . These imaging optics  226  include image forming optics  228  and the lenses  202  and  203 . The image forming optics may be conventional or confocal image forming optics as found in a conventional or confocal microscope. This kind of arrangement may be configured in the manner described in U.S. patent application Ser. No. 08/613,982 referenced earlier where the image forming optics are located externally from the scanning head.  
      The imaging optics  226  may be used to produce a low magnification optical image of the object  102  or a calibration structure  128 . Specifically, the controller  114  causes the positioning system to scan the object  102  or a calibration structure  128  with the scanning head  120 . At each scan point, the image forming optics  228  causes light to be directed to the lenses  202  and  203  which focus the light on the object or calibration structure. The resulting light reflected by the object or calibration structure is directed back to the image forming optics by the lenses. The image forming optics detects this resulting light and in response forms an optical image of the object or calibration structure. This optical image is then provided to the controller.  
      The optical images produced by the imaging optics  226  may be used by the controller  114  in various ways. They may be used in conjunction with SPM measurements to inspect the object in the manner described in U.S. patent application Ser. Nos. 08/906,602, 08/885,014,08/776,361, and 08/613,982. Or, they may be used to produce complete images of the modifications being made to the object or the calibrations being made to the probe  122 . Specifically, the image optics may be used to find reference points and/or specific (optically) resolvable structures to be modified and/or inspected.  
      Referring again to  FIG. 1 , the activated tip  138  of the probe  122  may be used to inspect the object  102  by performing SPM measurements of the object. Thus, when the user instructs the controller  114  with the user interface to use the activated tip to perform SPM measurements, the controller controls the positioning subsystem  103 , the corresponding components  123  of the SPM system  100 , and, as needed, the probe in inspecting the object  102 . This is done by causing the probe to be scanned over the object and the desired SPM measurements of the object to be made at selected scan points.  
      For example, turning to  FIG. 5 , the SPM measurements may include AFM measurements made by scanning the activated tip  138  over the surface  166  of the object  102  and measuring the deflection of the cantilever  136  on which the tip is located at selected scan points. This is done with the cantilever deflection measurement system  200 . The cantilever deflection measurement system has optics that comprise a light source  201 , lenses  202  and  203 , and a photodetector  204 . As is well known to those skilled in the art, the optics  201  to  204  are used as an interferometer to optically detect and measure the deflection of the cantilever  136 . This kind of arrangement may be configured in the manner described in U.S. patent application Ser. No. 08/613,982 referenced earlier where the light source and photodetector are located externally from the scanning head. Alternatively, the cantilever deflection measurement system may comprise components to electrostatically (i.e., capacitively) or piezoelectrically detect and measure the cantilever deflection.  
      Furthermore, the SPM measurements may also include STM measurements made by scanning the activated tip  138  over the surface  166  of the object  102  and causing and measuring a tunneling current between the activated tip and the object at selected scan points. This is done with an STM measurement circuit in the same way as described earlier for calibrating the positioning of the tip  138 . The STM measurement circuit is one of the other components  123  of the SPM system  100 .  
      The SPM measurements may also include radiation measurements made by scanning the activated tip  138  over the surface  166  of the object  102  and causing optical interaction between the tip and the object  102  at selected scan points. This may done in the manner discussed earlier for calibrating the position of the tip.  
      The SPM measurements just described may be combined together or used separately by the controller  114  to generate the inspection data for the object  102 . As described earlier, this may include an image of the object and/or various analysis of the object and may be done in the manner described in U.S. patent application Ser. Nos. 08/906,602, 08/885,014, 08/776,361, and 08/613,982 referenced earlier.  
      For example, the AFM, STM, and radiation measurements may be combined to generate an image of the object with the AFM measurements being used to produce the basic image and the STM and radiation measurements being used to supplement the basic image. The AFM measurements would provide information about the heights of the surface at the various scan points. The STM measurements would provide information on the electrical properties of the object with which to supplement the basic image and the radiation measurements would provide information on the composition of the object (from the measured wavelength spectrum) with which to supplement the basic image. In addition, if the narrow beam of light used in producing the radiation measurements is rotationally polarized, as described in the patent applications just referenced, then the radiation measurements can be used to identify deep surface features, such as a pit, wall, or projection, and supplement the basic image with this information. Additionally, the STM measurements could simply be used by themselves to generate an electrical map or analysis of the object&#39;s conductivity and electrical properties according to the positioning of the tip in making the STM measurements. And, the radiation measurements could be used to generate a compositional analysis on the composition of the object mapped according to the positioning of the tip in making the radiation measurements. The AFM, STM, and radiation measurements can be made simultaneously during the surface scan using an activated tip  138  of the SPM probe  122 .  
      Furthermore, as discussed earlier, the inspection data may be used to modify the object  102 . In doing so, the controller  114  may compare the generated inspection data with target data that it stores. The target data may include a target image and/or analysis of the object which are compared with the generated image and/or analysis of the object. The resulting modification data from this comparison indicates where and how the object needs to be modified in order to fall within a predefined tolerance level of the reference parameters. Then, based on the modification data, the controller controls modification of the object  102  using the probe  122  or one or more of the other SPM probes described herein.  
      Referring to  FIGS. 1, 5 , and  8 , as mentioned earlier, an activated tip  138  of the SPM probe  122  can also be used to make SPM modifications of the object  102  by making cuts in the material of the object. This is done when the user instructs the controller  114  with the user interface  116  to use the SPM probe  122  to perform this operation. In the manner described earlier, the controller  1 . 14  controls loading of the cutting probe onto the scanning head  120  and the activation of the tip  138  of one of the tools  137  of the SPM probe  122 . Then, the controller  114  controls the positioning system  103  to lower the activated tip  138  onto the material of the object  102  such that the activated tip pushes down on the material with sufficient force to make a desired cut in the material when the tip is dragged across it. Then, the controller  114  causes the positioning system  103  to drag the tip in this way and make the desired cut. The controller  114  then causes the positioning system  103  to raise the tip from the cut or return it to the beginning of the cut stroke without lowering it into the material.  
      As mentioned earlier, the SPM probe  122  may have multiple cutting tools  137 . These tools  137  may have different tips  138  with different cutting angles. In this case, the controller  114  selects the cutting tool  137  with the appropriate cutting angle to perform the desired cut.  
      The amount of force with which the activated tip  138  of the SPM probe  122  pushes down on the material may be selected and selectively adjusted. Referring back to  FIGS. 7 and 8 , the controller  114  causes the tip activation circuit  175  to control the tip actuator  174  in order to do this. Specifically, the tip activation circuit causes a change in the dimension of the adjustment transducer  173  so that it pushes or pulls against the end of the lever arm  170  to which it is fixed. In response, the lever arm is moved over the pivot  171  so that the pivot point of the lever arm (about which the lever arm pivots on the pivot) will change. This changes the point at which the rounded end of the lever arm contacts the cantilever  136  on which is located the activated tip. Since this contact point is also a pivot point for the deflection of the cantilever, the amount of force imparted on the target area depends on the location of this contact point. In this way, the amount of force imparted by the activated tip can be selected and selectively adjusted.  
      This is particularly useful in repairing and/or performing fabrication steps on a semiconductor wafer or fabrication mask. In particular, when excess material is on the wafer or mask, the SPM probe  122  may be used to perform a precise cut to remove or etch away this material.  
      Moreover, this is also useful in performing precision repairs and/or fabrication steps of a magnetic microstructure. Specifically, a gap between magnetic elements of the magnetic microstructure can be precisely created and/or repaired by using the SPM probe  122  to perform a precise cut in the magnetic material between the magnetic elements. This is particularly applicable to creating or repairing the gap between the write and read poles of the thin film magnetic material of a thin film magnetic read/write head.  
      Cutting Techniques  
      Referring back to  FIG. 1 , in making cuts in the object  102  with the SPM probe  122  shown in FIGS.  2  to  11  and described, it is desirable to monitor the loci of the tip  138  of the SPM probe  122 . To do so, the controller  114  uses a dc servo closed loop in which the deviation of the tip  138  is corrected from the loci of the guide topography or true surface. This may be done by measuring the deflection of the cantilever  136  electrostatically (i.e., capacitively), piezoelectrically, interferomically, or by some other means using the cantilever deflection measurement system  200  described earlier.  
      In addition, referring back to  FIGS. 4   a  to  4   c , the other components  123  of the SPM system  100  may include a tip motion detection system  422 . In this case, the tip  138  can be configured so that one or more secondary sensors  420 , such as a piezoelectric plate, tube or other geometry, of the tip motion detection system  422  are located and mechanically coupled on or near the tip  138 . As a result, one or more force measurements can be made by a tip deflection measurement circuit  421  of the tip motion detection system  422  using the sensors  420  to measure the local motion or deflection of the tip  138  while cutting. This allows a compensating reposition of the tip  138  to be made by the controller  114  using the positioning system  103 .  
      However, the local motion or deflection of the tip  138  can instead be approximated by alternately holding the tip  138  rigid or clamped with the clamping device  400  through one vector of cutting motion (or set of vectors) and then sensing the surface of the object  102  with the tip  138  by making SPM measurements for some distance. This information is then used by the controller  114  to set and clamp the tip  138  for the next series of cuts. This sampling and adjustment or open loop operation may be done by sampling after every vector of cut motion or less frequently in order to minimize the time required to perform a cutting operation.  
      The tip  138  which is vibrated when used to make AFM measurements, may be clamped (i.e., stopped) with the clamping device  400  in vibration over the surface of a known object  102  under the control of the controller  114 . The tip  138  is then moved closer to the surface in known increments with the positioning system  103  under the control of the controller  114  until (1) the cantilever deflection measurement system  200  detects force on the tip due to contact with the known surface, and/or (2) the tip motion detection system  422  shows that the increment of actual movement of the tip is less then the magnitude of the impulse movement imposed by the positioning system  103  with respect to the surface. Then, under either or both of the latter two conditions, the tip  138  is presumed to be in contact with the surface and its steady or clamped position with relation to the surface is then characterized and known by the controller  114 . This clamped position information is then used by the controller  114  to reposition the tip  138  with the positioning system  103  after a surface scan of an unknown object  102  during all or a portion of a nanomachining operation, including SPM measurement and cutting, or multiple nanomachining operations until the tip  138  is worn or replaced.  
      As mentioned previously, the tip  138  may be vibrated in a non-contact mode (as is well known in the art) under the control of the controller  114  with the positioning system  103  for making AFM measurements. But, during cutting, the tip  138  can also be vibrated and made to follow the three space loci of the desired form or cut. In this case, the controller  114  can use the clamping device  400  to dampen and control the vibration to a limited range of a few nanometers or less. The amplitude of the vibration is controlled to be within the error range of the cut or a desired loci of the target surface. This vibrating motion of the tip  138  helps clear the material that was cut and prevents mechanical or van der Waals binding of the tip  138  to the remaining material of the object  102 . Additionally, the damped vibration in the cut is monitored to determine when the loci of the cut is in a clear or non-cut area so that an inspection using AFM measurements may optionally be begun by freeing the servo control to operate again to scan the surface or volume.  
      Finally, to locate the surface of the object  102  for making a cut, the controller  114  controls the positioning system  103  in lowering the tip  138  so that the tip  138  is made to contact the surface. Then, the tip  138  is withdrawn until it is at point just on the surface. This is done by determining the point at which there is no more deflection of the cantilever  136  using the cantilever deflection measurement system  200  and/or by observing that the motion of the tip  138  away from the surface in the positioning system  103  is equal to the detected motion by the tip motion detection system  422 . At this point, the tip  138  is then T clamped in place with the clamping device  400  in preparation for cutting.  
      Illumination Technique  
      Referring to  FIG. 5 , in nanomachining and SPM measurement, it is desirable to examine optically a parallel plate or optically transparent object  102 , such as a lithographic mask, a lens, an optical element, or mirror, in transmitted light, backlight, rear illuminated scattered (i.e., darkfield) light or in combinations thereof in conjunction with a support stage  129  which is opaque or reflective. The illumination system  500  shown in  FIG. 5 , which is one the other components  123  of the SPM system  100 , provides such transmitted, darkfield, or combined illumination so that the support stage  129  can be opaque or reflective and not partial or fully transparent.  
      In operation, the controller  114  controls the side injection light source  501  of the illumination system  500  to generate light. The light source  501  is optically coupled to the object  102 , for example a semiconductor chromium mask, to direct the light to the object  102 . The light propagates through the object  102  and is reflected internally by reflective structural elements of the object  102 . Any propagating light that passes through the object  102  may then be reflected by the support stage  129 , reflective material  502  of the illumination system  500  located on the probe holding plate  156  of the housing  154  of the scanning head  120 , and a reflective edge  503  back into the object  102 . The propagating light may also be reflected internally within the object  102  by various reflective structural elements of the object  102 . For example, in a semiconductor chromium mask, the light is reflected by the chrome layer on the top of the mask and, where the chrome is missing, light would be reflected by the reflective material  502  on the scanning head  120 . The propagating light eventually reaches the region in which the light will be imaged or detected by the imaging optics  226 .  
      In one mode of operation, the light level is constantly adjusted by the controller  114  by controlling the light source  501  and monitoring the light detected by the imaging optics  226  so as to maintain a constant illumination level. Alternatively, the intensity of the light can be a direct function of the position of the object  102  under the imaging optics  226 . Specifically, when the imaging optics  226  are close to the light source  501  and the object  102 , the intensity is low while the intensity is high when the imaging optics  226  are far away. Although only one axis of light injection is shown, normally two or more such axis of light injection and control may be used.  
      Furthermore, a flat light source  504 , such as an electroluminescent panel, of the illumination system  500  may be used under the control of the controller  114  to separately or in conjunction with the side injection light source  501  provide rear illumination in a similar manner. The light source  504  is arranged in the recess (or depression) of the support stage  129  below the object  102  so that object  102  is only supported on the support stage  129  outside the concentric rectangular reticule area of the support stage  129 . The object  102  may be supported and transferred in an appropriate intermediate carrier which permits objects of different dimensions to be used in a system set up for the largest object (with object carrier). And, in this arrangement, the side injection light source  501  may be integrated in whole or partially in the object carrier as may be the flat light source  504 .  
      Additionally, one or more highly collimated light sources  505 , such as a laser, of the illumination system  500  may be arranged outside the support stage  129  and fixed in position with respect to the scanning head  120  or configured to move to follow or attached to a structure carrying the scanning head  120 . Under the control of the controller  114 , these light sources  505  illuminate the area in view of the imaging optics  226  and provide illumination of the area of interest. This illumination may be provided incidentally or in a ultramicroscopic darkfield manner as shown. Or, this illumination may be done by injection into the object  102 , such as the side injection done with the light source  501 , to provide various forms of backlighting to the object  102 . When injected into the side of the object  102 , these light sources  505  would still remain fixed with respect to the scanning head  120 . But, their intensity may be changed (depending on the bounce angle) to compensate for light loss due to multiple bounces across the object  102 . Similar to that described earlier, the intensity adjustment would be a function of the bounce angle and the position of the object  102  under the scanning head  120 .  
      Repair and/or Fabrication of Masks and/or Wafers  
      As an example, the SPM system  100  may be used to perform precision repairs of a completed mask or wafer after fabrication. In fact, the SPM system may even be used to perform precision repairs and/or fabrication steps of a partially completed mask or wafer during fabrication. These repairs and/or fabrication steps comprise structurally and/or chemically modifying the material of the mask or wafer by removing, deforming, and/or chemically changing a portion of it or adding other material to it.  
      For example, the SPM system  100  may be provided with initial repair and/or fabrication guide or inspection data for a mask or wafer that was previously inspected by a conventional mask or wafer inspection system. The provided initial repair and/or fabrication guide or inspection data may identify where and how a repair and/or a fabrication step is to be performed on the mask or wafer.  
      Using one or more of the SPM probes  122  and/or some of the other components  123  of the SPM system, the controller  114  locates a reference point on the wafer or mask. Then, using the reference point and the provided repair and/or fabrication inspection data, the controller may cause an inspection of the wafer or mask to be made where the repair and/or fabrication step is to be performed. This is done with one or more of the SPM probes  122  in the manner briefly described earlier and will described in greater detail later. As a result, inspection data is generated which comprises an image and/or analysis of the mask or wafer. By comparing the generated inspection data with target data stored by the controller, repair and/or fabrication (i.e., modification) guide data is generated by the controller  114 . Then, based on the additional repair and/or fabrication guide data, the controller causes the repair and/or fabrication step to be performed on material of the object with one or more of the SPM probes  122  and under the direction of the user. This is done in the manner described earlier.  
      Alternatively, the controller  114  may use repair and/or fabrication guide data to directly make the repair and/or fabrication step without making an initial inspection. In this case, the controller  114  locates the reference point on the wafer or mask with one of the SPM probes  122  and then performs the repair and/or fabrication step with this SPM probe and/or one or more other SPM probes  122 . Or, the controller  114  may simply locate the surface of the wafer or mask with the SPM probe  122  and then perform the repair and/or fabrication step.  
      Then, the controller  114  causes another inspection of the mask or wafer to be made after the repair and/or fabrication step. This inspection may be done with or without any of the SPM probes  122  in the manner described earlier. Furthermore, this may be done in such a way that the mask or wafer is inspected so as to simulate or emulate its use in the environment in which it is normally used.  
      For example, in the case of a mask, some of the other components  123  of the SPM system  100  and/or one of the SPM probes  122  would cause radiation to be directed at the mask. Such radiation may comprise electromagnetic energy, such as radio frequency waves, gamma rays, xrays, ultraviolet light, infrared light, visible light, and/or charged particles, such as protons, electrons, alpha particles, or ions. The resulting radiation that would be projected by the mask onto a wafer or that would be reflected and/or emitted by the mask would then be detected by some of the other components of the SPM system  100  and/or one of the SPM probes  122 . From the detected radiation, the controller  114  generates and displays a patterned image of the detected radiation so as to emulate the way in which the mask would expose a wafer to radiation during actual fabrication of the wafer.  
      Alternatively, one or more of the SPM probes  122  may be used to make SPM measurements of the mask which are used by the controller  114  to produce a structural image of the mask in response. From this produced structural image, the controller  114  would simulate the detection of resulting radiation that would be projected by it or reflected and/or emitted by it in response to radiation directed at it. From this simulation, a patterned image of the detected radiation is generated.  
      In either case, the controller  114  compares the generated patterned image with a recorded target patterned image or criteria to generate repair and/or fabrication guide data that identifies any further repair and/or fabrication step to be performed on the mask. The controller  114  then causes the entire process to be repeated until the generated patterned image has converged to the target patterned image or criteria within the specified tolerance level.  
      Furthermore, in the case of a wafer, one or more of the SPM probes  122  may be used to make SPM measurements of the wafer. These SPM measurements may be used by the controller  114  to generate an analysis of the properties, operation, and/or characteristics of the wafer and/or a structural image of the wafer. This generated analysis and/or image is then compared with a target analysis or image to generate repair and/or fabrication guide data that identifies that identifies any further repair and/or fabrication step to be performed on the wafer. The controller  114  then causes the entire process to be repeated until the generated analysis and/or image converges to the target analysis or image within the specified tolerance level.  
     CONCLUSION  
      While the present invention has been described with reference to a few specific embodiments, the description is illustrative of the invention and is not to be construed as limiting the invention. Various modifications may occur to those skilled in the art without departing from the true spirit and scope of the invention as defined by the appended claims.