目的：系统分析脑卒中患者上肢机器人辅助训练的研究现状和热点，以期为研究人员提供新思路。方法：使用 Web of  Science 数据库检索 2003—2022 年脑卒中患者上肢机器人辅助训练的相关文献，应用 VOSviewer 软件进行可视化分析。结果： 发文量大致分为萌芽、上升和爆发 3 个阶段，表明脑卒中后上肢机器人辅助训练相关领域已逐渐引起广大研究者的重视；中 国虽然起步较晚，但目前已成为脑卒中患者上肢机器人辅助训练研究领域发文量最多的国家，是该领域的重要力量；当前研 究热点主要聚焦于脑卒中后上肢功能康复、机器人辅助治疗及方法设计、脑卒中患者健康问题发生改变后产生的后果等主题。 结论：上肢机器人辅助训练研究领域发展迅速，研究热点多样化，但各国家、机构之间存在差异性。我国在该科研领域仍有 较大发展空间，未来应建立多学科协作模式、统一康复训练模式、医院家庭合作模式，以促进该领域的进一步发展。

Objective: To systematically analyze the current research status and hotspots of robot-assisted upper limb training in stroke patients, with the purpose of providing novel insights for researchers in the field. Methods: Relevant literature in the Web of Science database on robot-assisted upper limb training for stroke patients published from 2003 to 2022 was retrieved. Visualized analysis was conducted using VOSviewer software. Results: The publication volume can be categorized into three stages: emerging, rising and outburst, indicating a progressively increasing attention from researchers on robot-assisted upper limb training for stroke patients. Despite a late start, China has emerged as the leading contributor to the publications in this field, signifying its significant presence and influence. Research hotspots revolve around functional rehabilitation of the upper limb of patients after stroke, robot-assisted therapy, method design, and the consequences caused by altered health conditions in stroke patients. Conclusion: The field of robot-assisted upper limb training is advancing rapidly, with diversified research hotspots. However, development differences in this field exist among countries and institutions. China still has room to the development of robot-assisted upper limb training, efforts should be made on establishing multidisciplinary collaboration models, unified rehabilitation training approaches, and hospital-family cooperation models to foster its development in the future.

基金项目：甘肃省科技计划项目（21CX6ZA119） 

Foundation Item: Science and Technology Plan Project of Gansu Province(21CX6ZA119) 

引用格式：严小青，李玉静，李怡璇，等 . 脑卒中患者上肢机器人辅助训练文献的可视化分析 [J]. 机器人外科学杂志（中英文），2025，6（2）： 287-292. 

Citation: YAN X Q, LI Y J, LI Y X, et al. Visualized analysis of literature on robot-assisted upper limb training in stroke patients[J]. Chinese  Journal of Robotic Surgery, 2025, 6(2): 287-292. 

通讯作者（Corresponding Author）：田文艳（TIAN Wenyan），Email：tianwy2021@163.com

[1] GBD 2019 Stroke Collaborators. Global, regional, and national burden of stroke and its risk factors, 1990-2019: a systematic analysis for the Global Burden of Disease Study 2019 [J]. The Lancet Neurology, 2021, 20(10): 795-820. 

[2] Bertani R, Melegari C, de Cola M C, et al. Effects of robot-assisted upper limb rehabilitation in stroke patients: a systematic review with metaanalysis [J]. Neurol Sci, 2017, 38(9): 1561-1569. 

[3] YANG X W, SHI X B, XUE X L, et al. Efficacy of robot-assisted training on rehabilitation of upper limb function in patients with stroke: a systematic review and Meta-analysis [J]. Arch Phys Med Rehabil, 2023, 104(9): 1498-1513. 

[4] 王冰璐 , 步一 , 徐扬 , 等 . 从数据挖掘偏差到文献计量偏差 [J]. 情报 理论与实践 , 2017, 40(10): 41-46. 

[5] 陈梦晓 , 张怡人 , 王毅 , 等 . 基于 VOSviewer 和 CiteSpace 分析脓毒症 肝损伤的全球研究现状及趋势 [J]. 中国医药导报 , 2023, 20(25): 85- 89, 98. 

[6] Chien W T, Chong Y Y, Tse M K, et al. Robot-assisted therapy for upperlimb rehabilitation in subacute stroke patients: a systematic review and meta-analysis [J]. Brain Behav, 2020, 10(8): e01742. 

[7] Rodgers H, Bosomworth H, Krebs H I, et al. Robot assisted training for the upper limb after stroke (RATULS): a multicentre randomised controlled trial [J]. Lancet, 2019, 394(10192): 51-62. 

[8] Morone G, Palomba A, Martino Cinnera A, et al. Systematic review of guidelines to identify recommendations for upper limb robotic rehabilitation after stroke [J]. Eur J Phys Rehabil Med, 2021, 57(2): 238-245. 

[9] 金琳娜 , 邹朝君 , 潘红英 . 脑卒中患者双侧上肢训练的研究进展 [J]. 中华护理教育 , 2021, 18(12): 1106-1110. 

[10] Krebs H I, Hogan N, Aisen M L, et al. Robot-aided neurorehabilitation [J]. IEEE Trans Rehabil Eng, 1998, 6(1): 75-87. 

[11] Gassert R, Dietz V. Rehabilitation robots for the treatment of sensorimotor deficits: a neurophysiological perspective [J]. J Neuroeng Rehabil, 2018, 15(1): 46. 

[12] Maciejasz P, Eschweiler J, Gerlach-Hahn K, et al. A survey on robotic devices for upper limb rehabilitation [J]. J Neuroeng Rehabil, 2014. DOI: 10.1186/1743-0003-11-3. 

[13] Li L T, Fu Q, Tyson S, et al. A scoping review of design requirements for a home-based upper limb rehabilitation robot for stroke [J]. Top Stroke Rehabil, 2022, 29(6): 449-463. 

[14] Jakob I, Kollreider A, Germanotta M, et al. Robotic and sensor technology for upper limb rehabilitation [J].PM R, 2018, 10(9 Suppl 2): S189-S197. 

[15] 王杰静 . 桌面式上肢康复机器人控制系统的设计与实现 [D]. 上海： 上海师范大学 , 2018. 

[16] 余灵 , 喻洪流 . 上肢康复机器人研究进展 [J]. 生物医学工程学进展 , 2020, 41(3): 134-138, 143. 

[17] XU P, HUANG Y, WANG J, et al. Repetitive transcranial magnetic stimulation as an alternative therapy for stroke with spasticity: a systematic review and Meta-analysis [J]. J Neurol, 2021, 268(11): 4013-4022. 

[18] 朱光跃 , 陈思韵 , 霍聪聪 , 等 . 外周联合中枢双靶磁刺激促进脑卒 中运动功能障碍康复专家共识 [J]. 中国康复医学杂志 , 2023, 38(7): 880-884. 

[19] Lieshout E, van de Port I G, Dijkhuizen R M, et al. Does upper limb strength play a prominent role in health-related quality of life in stroke patients discharged from inpatient rehabilitation? [J]. Top Stroke Rehabil, 2020, 27(7): 525-533. 

[20] Coleman E R, Moudgal R, Lang K, et al. Early Rehabilitation after stroke: a narrative review [J]. Curr Atheroscler Rep, 2017, 19(12): 59. 

[21] 徐妍 , 黄馨睿 , 徐敏 . 移动医疗用于脑卒中患者居家康复的范围综 述 [J]. 护理学杂志 , 2023, 38(17): 121-125. 

[22] Borges L R, Fernandes A B, Melo L P, et al. Action observation for upper limb rehabilitation after stroke [J]. Cochrane Database Syst Rev, 2018, 10(10): Cd011887. 

[23] Hesse S, Heß A, Werner C C, et al. Effect on arm function and cost of robot-assisted group therapy in subacute patients with stroke and a moderately to severely affected arm: a randomized controlled trial [J]. Clin Rehabil, 2014, 28(7): 637-647. 

[24] SHENG B, ZHANG Y X, MENG W, et al. Bilateral robots for upper-limb stroke rehabilitation: State of the art and future prospects [J]. Med Eng Phys, 2016, 38(7): 587-606. 

[25] 陈煌 , 黎蔚华 , 罗青 , 等 . 脑卒中早期康复现状的调查与分析 [J]. 广 东医学 , 2018, 39(2): 278-282. 

[26] 李阳 , 成毅 . 神经内科护士的脑卒中偏瘫康复护理认知、态度、活 动现状及其影响因素分析 [J]. 临床医学研究与实践 , 2023, 8(23): 5-8.