A method for ultrasound stimulation of spinal cord, the method comprising at least two stimulation cycles, each comprising the steps of: a) obtaining a first real-time spinal cord using a first set of ultrasound transducers； b) selecting a pre-determined stimulation area of the spinal cord from the first real-time spinal cord； c) calculating the position and orientation of the selected stimulation area relative to a second set of ultrasound transducers； and d) stimulating the selected stimulation area of the spinal cord at the calculated relative position and orientation using the second set of ultrasound transducers.
