目的：分析下肢外骨骼机器人在脑卒中偏瘫康复治疗中的应用价值。方法：采用前瞻性研究方法， 选取 2021 年 1 月—2023 年 5 月衡水市中医医院收治的 86 例脑卒中偏瘫患者作为研究对象，依据随机数表法将患者 分为试验组和对照组。对照组 43 例患者予常规康复，试验组 43 例患者予下肢外骨骼机器人干预。两组患者均接受 8周治疗。比较两组患者的步行功能、运动功能及治疗满意度。结果：6 min步行试验（6MWT）、10 m步行测试（10MWT） 主体内效应（F 时点、F 交互）、主体间效应（F 组间）比较，差异有统计学意义（P<0.05）。6MWT、10MWT 有随时间 变化趋势，且组间存在差异。治疗 2 周、4 周、8 周，试验组的 6MWT 和 10MWT 结果均优于对照组（P<0.05）。与 对照组相比，治疗后试验组的步行功能更理想（P<0.05），Berg 平衡量表（BBS）评分更高，步频、步速更快（P<0.05）。 试验组总满意度较对照组更好（P<0.05）。结论：与常规康复干预相比，下肢外骨骼机器人能更好地改善脑卒中偏 瘫患者步行功能，有助于提高患者治疗满意度。

Objective: To explore the effect of lower limb exoskeleton robot on rehabilitation of stroke patients with hemiplegia. Methods: A prospective study was performed on 86 stroke patients with hemiplegia who were treated in Hengshui Traditional Chinese Medicine Hospital from January 2021 to May 2023. The patients were divided into the experimental group (n=43) and the control group (n=43) using a random number table. The control group received routine rehabilitation intervention, while the experimental group received lower limb exoskeleton robot-assisted rehabilitation intervention. The two groups were both treated for 8 weeks. The walking function, motor function and treatment satisfaction of the two groups were compared. Results: There were statistically significant differences in the intra-subject effects (Ftimepoint, Finteraction) and inter-subject effects (Fintergroup) of 6-minute walk test (6MWT) and 10-meter walk test (10MWT) between the two groups of patients (P<0.05). 6MWT and 10MWT results showed a trend of change with time, and there were differences among groups. After 2 weeks, 4 weeks and 8 weeks of treatment, the results of 6MWT and 10MWT in the experimental group was better than those in the control group (P<0.05). After treatment, the Holden walking function grade of experimental group was significantly better than that of the control group (P<0.05), the Berg balance scale (BBS) score, stride frequency and stride speed of the experimental group were higher than those of the control group (P<0.05). The total satisfaction rate was higher in the experimental group than that in the control group (P<0.05). Conclusion: Compared with the conventional rehabilitation intervention, the lower limb exoskeleton robot can better improve the walking function and treatment satisfaction of stroke patients with hemiplegia.

收稿日期：2023-12-28  录用日期：2024-01-09 

Received Date: 2023-12-28  Accepted Date: 2024-01-09 

通讯作者：耿兵将，Email：704213199@qq.com 

Corresponding Author: GENG Bingjiang, Email: 704213199@qq.com 

引用格式：戚朋顺，徐亚宁，耿兵将，等 . 下肢外骨骼机器人在脑卒中偏瘫患者康复中的应用及效果观察 [J]. 机器人外科学杂志（中 英文），2024，5（6）：1124-1129. 

Citation: QI P S, XU Y N, GENG B J, et al. Application effect of lower limb exoskeleton robot on rehabilitation of stroke patients with hemiplegia[J]. Chinese Journal of Robotic Surgery, 2024, 5(6): 1124-1129.

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