开源工具让机器人经颅磁刺激更易用，支持医学影像导航与设备联动。
SlicerRoboTMS: An Open-Source 3D Slicer Extension for Robot-Assisted Transcranial Magnetic Stimulation
- 基于3D Slicer构建统一交互平台，整合影像处理与机器人控制。
- 支持MRI引导的精准定位，适配多种硬件配置并实现快速原型开发。
- 适合神经科学与临床研究者使用，推动可复现的机器人刺激研究。
机器人辅助经颅磁刺激（Robo-TMS）是一种基于影像引导的机器人干预技术，能提升传统经颅磁刺激（TMS）在临床治疗和神经科学研究中的精度与可重复性。然而，其发展受限于跨学科知识整合难度，涉及医学影像、计算机视觉与机器人学。本文提出SlicerRoboTMS，一个开源的3D Slicer扩展，为Robo-TMS研究提供统一交互基础设施。该工具利用3D Slicer的医学图像计算与可视化能力，支持基于磁共振成像（MRI）的神经导航，并通过标准化通信协议与机器人系统对接，支持可配置系统描述。文中展示了其在典型Robo-TMS工作流中的集成示例。该扩展设计支持多样硬件配置与快速原型开发，降低研究门槛，促进可复现、可扩展的Robo-TMS研究。项目代码已公开于https://github.com/OpenRoboTMS/SlicerRoboTMS。
原文摘要 · Abstract (English)
Robot-assisted Transcranial Magnetic Stimulation (Robo-TMS) is an image-guided robotic intervention that enhances the accuracy and reproducibility of conventional Transcranial Magnetic Stimulation (TMS), a widely used non-invasive brain stimulation procedure in clinical treatment and neuroscience research. Despite its potential, the development of Robo-TMS remains challenging due to the need for multidisciplinary expertise spanning medical imaging, computer vision, and robotics. This paper presents SlicerRoboTMS, an open-source 3D Slicer extension that provides a unified interaction infrastructure for Robo-TMS research. By leveraging 3D Slicer's medical image computing and visualisation capabilities, the extension supports Magnetic Resonance Imaging (MRI)-based neuronavigation and interfaces with robotic systems through standardised communication protocols and configurable system descriptions. An example integration is presented to demonstrate how SlicerRoboTMS can be incorporated into a representative Robo-TMS workflow. Designed to support diverse hardware configurations and rapid prototyping, SlicerRoboTMS lowers the barrier to entry and facilitates reproducible and extensible research in Robo-TMS. The extension is available at https://github.com/OpenRoboTMS/SlicerRoboTMS.
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