标题： 机器人辅助经颅磁刺激（Robo-TMS）：综述 显示英文标题

标题： Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS): A Review

摘要： 经颅磁刺激（TMS）是一种非侵入性和安全的大脑刺激方法，在临床治疗和神经科学研究中的应用正在不断增加。然而，在长时间的疗程中实现精确的刺激仍然面临重大挑战。通过将先进技术与传统TMS相结合，机器人辅助TMS（Robo-TMS）作为一种有前景的解决方案出现，以提高效果并简化流程。尽管越来越受到关注，但从工程角度进行全面的综述却明显缺失。本文系统地探讨了Robo-TMS的四个关键方面：硬件和集成、校准和配准、神经导航系统以及控制系统。我们回顾了每个领域的最新技术，识别了当前的局限性，并提出了未来的研究方向。我们的研究结果表明，目前Robo-TMS的广泛应用受到未经验证的临床适用性、高操作复杂性和高昂的实施成本的限制。新兴技术，包括无标记跟踪、非刚性配准、基于学习的电场（E-field）建模、个性化磁共振成像（MRI）生成、机器人辅助多部位TMS（Robo-mTMS）以及自动校准和配准，为解决这些挑战提供了有希望的途径。 显示英文摘要

摘要： Transcranial magnetic stimulation (TMS) is a non-invasive and safe brain stimulation procedure with growing applications in clinical treatments and neuroscience research. However, achieving precise stimulation over prolonged sessions poses significant challenges. By integrating advanced robotics with conventional TMS, robot-assisted TMS (Robo-TMS) has emerged as a promising solution to enhance efficacy and streamline procedures. Despite growing interest, a comprehensive review from an engineering perspective has been notably absent. This paper systematically examines four critical aspects of Robo-TMS: hardware and integration, calibration and registration, neuronavigation systems, and control systems. We review state-of-the-art technologies in each area, identify current limitations, and propose future research directions. Our findings suggest that broader clinical adoption of Robo-TMS is currently limited by unverified clinical applicability, high operational complexity, and substantial implementation costs. Emerging technologies, including marker-less tracking, non-rigid registration, learning-based electric field (E-field) modelling, individualised magnetic resonance imaging (MRI) generation, robot-assisted multi-locus TMS (Robo-mTMS), and automated calibration and registration, present promising pathways to address these challenges.