目的：分析下肢康复机器人联合中频脉冲治疗仪对脑卒中踝运动功能障碍患者的应用效果。方法：随机将新疆维吾尔 自治区人民医院康复医学科 2023 年 1 月—2024 年 1 月收治的 120 例脑卒中患者分为观察组与对照组，每组 60 例。对照组 患者予以中频脉冲治疗仪治疗；观察组患者在中频脉冲治疗仪基础上，联合下肢康复机器人辅助治疗。比较两组患者的踝关 节活动度、肌肉力量、平衡能力、生活质量及满意度。结果：干预 8 周后，两组患者踝关节背屈、跖屈角度及徒手肌力评定 （MMT）、Berg 平衡量表（BBS）、生活质量综合评定问卷（GQOLI-74）评分高于干预前，且观察组踝关节背屈、跖屈角 度及 MMT、BBS、GQOLI-74 评分均高于对照组（P<0.05）。观察组患者满意率高于对照组（P<0.05）。结论：下肢康复机 器人联合中频脉冲治疗仪能够更大程度改善脑卒中患者的踝运动功能，有助于提高患者生活质量，可以获得患者更高的满意 率与认可度，值得推广应用。

Objective: To analyze the application effect of lower limb rehabilitation robot combined with intermediate frequency pulse therapy device in stroke patients with ankle motor dysfunction. Methods: 120 stroke patients who were treated in the Department of Rehabilitation Medicine, the People’s Hospital of Xinjiang Uygur Autonomous Region from January 2023 to January 2024 were selected and randomly divided into the observation group and the control group, with 60 cases in each group. The control group received intermediate frequency pulse therapy device treatment, while the observation group received additional lower limb rehabilitation robotassisted treatment based on the control group. Ankle range of motion, muscle strength, balance ability, quality of life, and satisfaction were compared between the two groups. Results: After 8 weeks of intervention, both groups showed increased ankle dorsiflexion and plantar flexion angles, Manual Muscle Test (MMT) scores, Berg Balance Scale (BBS) scores, and Generic Quality of Life Inventory 74 (GQOLI-74) scores compared to those before intervention. The observation group showed significantly better outcomes in all aforementioned indicators compared to the control group (P<0.05). The satisfaction rate in the observation group was also higher than that in the control group (P<0.05). Conclusion: The combination of lower limb rehabilitation robot and intermediate frequency pulse therapy device can more effectively improve ankle motor function in stroke patients, enhance their quality of life and achieve higher patient satisfaction and recognition, making it worthy of clinical promotion.

基金项目：新疆维吾尔自治区人民医院院内项目（20210134） 

Foundation Item: Xinjiang Uygur Autonomous Region People's Hospital Intramural Project (20210134) 

引用格式：段平秀，梁明 . 下肢康复机器人联合中频脉冲治疗仪在脑卒中踝运动功能障碍患者中的应用 [J]. 机器人外科学杂志（中英文）， 2025，6（4）：619-623. 

Citation: DUAN P X, LIANG M. Application of lower limb rehabilitation robot combined with intermediate frequency pulse therapy device  in stroke patients with ankle motor dysfunction [J]. Chinese Journal of Robotic Surgery, 2025, 6(4): 619-623. 

通讯作者（Corresponding Author）：梁明（LIANG Ming），Email：110854012@qq.com

[1] Langerak A J, D’olivo P, Thijm O S A, et al. Stroke patients’ motivation for home-based upper extremity rehabilitation with eHealth tools[J]. Disabil Rehabil, 2024, 46(22); 5323-5333. 

[2] Kilbride C, Butcher T, Warland A, et al. Rehabilitation via HOMe-Based gaming exercise for the Upper limb post Stroke (RHOMBUS): a qualitative analysis of participants’ experience[J]. BMJ open, 2024, 14(1): e075821. 

[3] Marek K, Zubrycki I, Miller E. Immersion therapy with head-mounted display for rehabilitation of the upper limb after stroke-review[J]. Sensors (Basel), 2022, 22(24): 9962. 

[4] Kiper P, Godart N, Cavalier M, et al. Effects of immersive virtual reality on upper-extremity stroke rehabilitation: a systematic review with Metaanalysis[J]. J Clin Med, 2023, 13(1): 146. 

[5] Vlotinou P, Tsiptsios D, Karatzetzou S, et al. Transcranial direct current stimulation in conjunction with mirror therapy for upper extremity rehabilitation in chronic stroke patients[J]. Maedica (Bucur), 2022, 17(1): 169-176. 

[6] Courtois G, Dequidt A, Chevrie J, et al. Gait-oriented post-stroke rehabilitation tasks online trajectory generation for 1-DOF hip lowerlimb exoskeleton[J]. IEEE Int Conf Rehabil Robot, 2023. DOI:10.1109/ ICORR58425.2023.10304696. 

[7] Lyne D, Raphaël Z, Axelle G, et al. Effects of individualized lower limb isokinetic strengthening in clinical rehabilitation of older post-stroke patients: a retrospective study[J]. J Rehabil Med, 2023, 55: jrm7803. 

[8] Murakami Y, Honaga K, Kono H, et al. New artificial intelligenceintegrated electromyography-driven robot hand for upper extremity rehabilitation of patients with stroke: a randomized, controlled trial[J]. Neurorehabil Neural Repair, 2023, 37(5): 298-306. 

[9] Wiśniowska-Szurlej A, Wołoszyn N, Brożonowicz J, et al. Enhanced rehabilitation outcomes of robotic-assisted gait training with EksoNR lower extremity exoskeleton in 19 stroke patients[J]. Med Sci Monit, 2023, 29: e940511. 

[10] Campagnini S, Liuzzi P, Mannini A, et al. Effects of control strategies on gait in robot-assisted post-stroke lower limb rehabilitation: a systematic review[J]. J Neuroeng Rehabil, 2022, 19(1): 52. 

[11] 中华医学会神经病学分会 , 中华医学会神经病学分会神经康复学组 , 中华医学会神经病学分会脑血管病学组 . 中国脑卒中早期康复治疗 指南 [J]. 中华神经科杂志 , 2017, 50(6): 405-412. 

[12] Tae K K, Yongmin C, Hyuk J C, et al. Feasibility and usability of a robotassisted complex upper and lower limb rehabilitation system in patients with stroke: a pilot study[J]. Ann Rehabil Med, 2023, 47(2): 108-117. 

[13] Kim J A, Chun M H, Lee A, et al. The effect of training using an upper limb rehabilitation robot (HEXO-UR30A) in chronic stroke patients: a randomized controlled trial[J]. Medicine (Baltimore), 2023, 102(12): e33246. 

[14] Ross R E, Hart E, Williams E R, et al. Combined aerobic exercise and virtual reality-based upper extremity rehabilitation intervention for chronic stroke: feasibility and preliminary effects on physical function and quality of life[J]. Arch Rehabil Res Clin Transl, 2022, 5(1): 100244. 

[15] 李京泽 , 邢靖松 , 吕福现 , 等 . 下肢康复机器人训练对脑卒中偏瘫患者 步行功能的影响 [J]. 机器人外科学杂志 ( 中英文 ), 2023, 4(6): 512-516. 

[16] Villa-Berges E, Laborda Soriano A A, Lucha-López O, et al. Motor imagery and mental practice in the subacute and chronic phases in upper limb rehabilitation after stroke: a systematic review[J]. Occup Ther Int, 2023: 3752889. 

[17] Arantes A P, Bressan N, Borges L R, et al. Evaluation of a novel real-time adaptive assist-as-needed controller for robot-assisted upper extremity rehabilitation following stroke[J]. PloS one, 2023, 18(10): e0292627. 

[18] Okamura R, Nakashima A, Moriuchi T, et al. Effects of a virtual realitybased mirror therapy system on upper extremity rehabilitation after stroke: a systematic review and meta-analysis of randomized controlled trials[J]. Front Neurol, 2024, 14: 1298291. 

[19] Kashoo F Z, Al-Baradie R S, Alzahrani M, et al. Effect of transcranial direct current stimulation augmented with motor imagery and upper-limb functional training for upper-limb stroke rehabilitation: a prospective randomized controlled trial[J]. Int J Environ Res Public Health, 2022, 19(22): 15199. 

[20] Gandolfi M, Boscolo Galazzo I, Gasparin Pavan R, et al. eXplainable AI allows predicting upper limb rehabilitation outcomes in sub-acute stroke patients[J]. IEEE J Biomed Health Inform, 2022, 27(1): 263-273. 

[21] 易江 , 李文茂 , 关宁 , 等 . 不同平衡训练策略对脑卒中患者下肢运动 功能恢复的影响 [J]. 机器人外科学杂志 ( 中英文 ), 2023, 4(6): 517-524. 

[22] Aguilera-Rubio Á, Alguacil-Diego I M, Mallo-López A, et al. Use of the Leap Motion Controller® system in the rehabilitation of the upper limb in stroke: a systematic review[J]. J Stroke Cerebrovasc Dis, 2021, 31(1): 106174. 

[23] Bigoni C, Zandvliet S B, Beanato E, et al. A novel patient-tailored, cumulative neurotechnology-based therapy for upper-limb rehabilitation in severely impaired chronic stroke patients: the AVANCER study protocol[J]. Front Neurol, 2022, 13: 919511. 

[24] Przysada G, Leszczak J, Baran J, et al. Impact of a rehabilitation program on the change in components of body mass of the upper and lower limbs in people after ischemic stroke[J]. Med Sci Monit, 2022, 28: e936397. 

[25] Kumagai M, Otaka Y, Yoshida T, et al. Cumulative risk and factors associated with fall-related fractures in stroke survivors after discharge from rehabilitation wards: a retrospective study with a 6-year follow-up[J]. J Rehabil Med, 2022, 54: jrm00294. 

[26] 郭文静 , 张勇 , 邱纪方 . 下肢外骨骼机器人在脑卒中恢复期患者步态 康复中的应用研究进展 [J]. 中华物理医学与康复杂志 , 2023, 45(11): 1035-1039. 

[27] Khan M A, Fares H, Ghayvat H, et al. A systematic review on functional electrical stimulation based rehabilitation systems for upper limb poststroke recovery[J].Front Neurol, 2023, 14: 1272992. 

[28] Hurd C, Livingstone D, Brunton K, et al. Early, intensive, lower extremity rehabilitation shows preliminary efficacy after perinatal stroke: results of a pilot randomized controlled trial[J]. Neurorehabil Neural Repair, 2022, 36(6): 360-370.