Try the bottle trick. It worked for my purple lobster.
Use a 20 oz pop bottle, cut off the top, turn the top upside down, and put it back in the bottle (you need to secure it somehow, I used string). Poke some holes in the bottle.
Put a piece of shrimp or something inside, attach a string to it, so that the string hangs over the top edge of your tank--and so you can pull it out without sticking your hands in the tank, place the bottle near the rock....and just wait. See if the mantis comes out and goes into the bottle.
I don't know if these directions made sense. Basically , it looks like a pop bottle with holes in it---the upside down top makes a wider opening to catch the shrimp, but makes it harder for the shrimp to get out.
Or, you can take out the rock he's in, and squirt seltzer water into the cracks--I have never tried it, but hear this usually makes the mantis go scurrying out of the rock. Do it in a bucket, so you can catch the shrimp.
Anyone else have ideas?