A Transcranial Magnetic Stimulation, TMS, positioning and navigation apparatus for TMS treatment comprising: a lying bed, a headrest, a 3D camera and a mechanical arm, wherein the lying bed and the headrest are configured that during TMS treatment of a user, the user lies flat on the lying bed and the user head rests on the headrest, and wherein further the lying bed is configured to be moved forwards and backwards, and to adjust a relative position of the user head and the 3D camera, the TMS positioning and navigation apparatus being configured to perform steps of: S1, translate the user to a predetermined position through the lying bed; S2, scan the head of the user through the 3D camera to obtain 3D model data of the head of the user, and construct a 3D model according to the 3D model data of the head of the user; S3, perform first positioning: detect positions of the head of the user and a TMS coil, matching the 3D model with the head of the user to obtain a precise location to be stimulated, plan, by a controller, a movement path of the mechanical arm according to the positions of the head of the user and the TMS coil, and control the mechanical arm to precisely move the TMS coil to the head of the user; S4, perform follow-up positioning: if the position of the head of the user changes, detect a new position of the head of the user in real time, and match the 3D model with the new position to obtain a precise location to be stimulated; and S5, perform repeated positioning: after the first positioning is completed, save treatment location information of the user head and path planning data of the mechanical arm during the first positioning in user head model data, and during next treatment of the user, directly invoke the data during the previous positioning to repeatedly position the user head. wherein the lying bed and the headrest are configured that during TMS treatment of a user, the user lies flat on the lying bed and the user head rests on the headrest, and wherein further the lying bed is configured to be moved forwards and backwards, and to adjust a relative position of the user head and the 3D camera, the TMS positioning and navigation apparatus being configured to perform steps of: S1, translate the user to a predetermined position through the lying bed; S2, scan the head of the user through the 3D camera to obtain 3D model data of the head of the user, and construct a 3D model according to the 3D model data of the head of the user; S3, perform first positioning: detect positions of the head of the user and a TMS coil, matching the 3D model with the head of the user to obtain a precise location to be stimulated, plan, by a controller, a movement path of the mechanical arm according to the positions of the head of the user and the TMS coil, and control the mechanical arm to precisely move the TMS coil to the head of the user; S4, perform follow-up positioning: if the position of the head of the user changes, detect a new position of the head of the user in real time, and match the 3D model with the new position to obtain a precise location to be stimulated; and S5, perform repeated positioning: after the first positioning is completed, save treatment location information of the user head and path planning data of the mechanical arm during the first positioning in user head model data, and during next treatment of the user, directly invoke the data during the previous positioning to repeatedly position the user head. S1, translate the user to a predetermined position through the lying bed; S2, scan the head of the user through the 3D camera to obtain 3D model data of the head of the user, and construct a 3D model according to the 3D model data of the head of the user; S3, perform first positioning: detect positions of the head of the user and a TMS coil, matching the 3D model with the head of the user to obtain a precise location to be stimulated, plan, by a controller, a movement path of the mechanical arm according to the positions of the head of the user and the TMS coil, and control the mechanical arm to precisely move the TMS coil to the head of the user; S4, perform follow-up positioning: if the position of the head of the user changes, detect a new position of the head of the user in real time, and match the 3D model with the new position to obtain a precise location to be stimulated; and S5, perform repeated positioning: after the first positioning is completed, save treatment location information of the user head and path planning data of the mechanical arm during the first positioning in user head model data, and during next treatment of the user, directly invoke the data during the previous positioning to repeatedly position the user head.