Flap monitoring device, system and method

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses a flap monitoring device, system and method.The flap monitoring device comprises a movable chassis, a longitudinal moving mechanism and a transverse moving mechanism are arranged on the movable chassis, a mechanical arm is arranged on the longitudinal moving mechanism, and a flap monitoring mechanism is arranged at the telescopic end of the mechanical arm and used for scanning the body posture and flap area of a patient; a flap monitoring system is further arranged at the telescopic end of the mechanical arm, the moving mechanism can be controlled to adjust the posture of the mechanical arm based on posture characteristics, preliminary positioning matched with the body position of a patient is achieved, and the flap monitoring system is controlled to conduct secondary data collection after preliminary positioning. And the longitudinal moving mechanism and the transverse moving mechanism are controlled to perform position adjustment according to an acquisition result, so that accurate alignment and all-dimensional scanning of the skin flap area are finally completed, and the technical problems of heavy workload of nursing personnel and low monitoring efficiency caused by the fact that existing skin flap monitoring equipment needs to be manually pushed to a sickbed are solved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and specifically discloses a flap monitoring device, system and method. Background Technology

[0002] Skin flap transplantation is a key method for repairing tissue defects. During the postoperative hospitalization, the survival of the skin flap depends closely on the maintenance of good blood circulation within it. Unobstructed blood flow is the core of ensuring successful healing. Therefore, clinical nursing procedures require regular and continuous monitoring and evaluation of the skin flap color, temperature, swelling degree, and capillary reaction after surgery, so as to detect vascular crises such as insufficient arterial blood supply or obstructed venous return in the early stage during the hospitalization and rehabilitation period, and to implement timely intervention.

[0003] Currently, the monitoring of skin flaps in clinical practice mainly relies on manual operation by nurses. Since postoperative patients are usually unable to move around and cannot actively move to the monitoring equipment, nurses need to push the monitoring equipment to check each bed in the ward. After reaching the bed, nurses also need to manually adjust the position and angle of the equipment to align it with the skin flap area before they can collect images and measure temperature. This process not only greatly increases the workload and labor costs of nurses, but is also cumbersome and inefficient. The accuracy and consistency of manual positioning are difficult to guarantee, and slight differences in equipment distance and angle can easily lead to deviations in monitoring data, affecting the accuracy of the assessment. Summary of the Invention

[0004] In view of this, one objective of the present invention is to provide a flap monitoring device, another objective is to provide a flap monitoring system, and a third objective is to provide a flap monitoring method, so as to solve the technical problems of existing flap monitoring equipment, which require manual pushing to the bedside, resulting in heavy workload for nursing staff and low monitoring efficiency.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a flap monitoring device, system, and method, comprising a mobile chassis for supporting the entire flap monitoring device and enabling its autonomous navigation and positioning in a ward environment. A base plate is mounted on the mobile chassis, and a longitudinal moving mechanism is provided on the base plate. A robotic arm is mounted on the longitudinal moving mechanism, and a lateral moving mechanism is also provided on the longitudinal moving mechanism. The longitudinal and lateral moving mechanisms cooperate to adjust the position of the robotic arm after the mobile chassis is positioned. A flap monitoring mechanism is provided at the telescopic end of the robotic arm for preliminary scanning of the patient's body posture and the flap area. In addition to scanning and data acquisition, the telescopic end of the robotic arm is also equipped with a flap monitoring system. This system is used to identify the patient's body posture characteristics and locate the approximate area of ​​the target flap based on the preliminary scan data. Based on the body posture characteristics, it generates position adjustment commands for the robotic arm, controlling the longitudinal and lateral movement mechanisms to work together to move the robotic arm to a preliminary detection position adapted to the patient's current posture. The flap monitoring system is also used to control the flap monitoring mechanism to perform secondary data acquisition after the initial positioning. Based on the acquisition results, it further controls the longitudinal and lateral movement mechanisms to adjust their positions, ultimately achieving precise alignment and omnidirectional scanning of the flap area to be tested.

[0006] In this solution, the mobile chassis enables autonomous navigation and positioning of the device in the ward environment, overcoming the limitations of traditional fixed equipment that cannot be moved flexibly or requires manual movement. Through the coordinated operation of the longitudinal and lateral movement mechanisms, the position of the robotic arm can be precisely adjusted after the mobile chassis is in place, effectively overcoming the interference of the gap between the equipment and the bed. This allows the robotic arm to approach the bed area in various clinical scenarios. Compared with traditional purely manual or only unidirectional adjustment mechanisms, it has better spatial adaptability and positioning capabilities. The flap monitoring mechanism set at the extension end of the robotic arm can perform preliminary scanning and data collection on the patient's body posture and flap area, realizing automatic recognition and response to different body positions (such as lying, sitting, and standing). The flap monitoring system identifies the patient's body position based on the preliminary scan data. The system identifies the patient's posture and locates the approximate area of ​​the target flap. Based on this, it generates posture adjustment commands for the robotic arm, controlling the longitudinal and lateral movement mechanisms to work together. This allows the robotic arm to quickly move to an initial detection position that adapts to the patient's current posture. This process avoids relying on repeated trial and error based on human experience, significantly improving postoperative preparation efficiency. After initial positioning, the flap monitoring device further controls the flap monitoring mechanism to collect secondary data and finely adjusts the movement mechanism based on feedback results. Ultimately, it achieves precise alignment and omnidirectional scanning of the flap area to be tested, thereby improving the standardization, automation, and accuracy of flap monitoring as a whole. This solves the key problems of poor repeatability, low positioning efficiency, and difficulty in adapting to diverse clinical posture environments caused by reliance on manual operation in existing devices.

[0007] Furthermore, the longitudinal moving mechanism includes a first motor mounted on the base plate, a first fixed plate fixedly connected to the base plate, a second fixed plate mounted on the base plate, a first screw provided on the power output shaft of the first motor, the first screw fixedly connected to the power output end of the first motor, the other end of the first screw passing through the first fixed plate and rotatably connected to the second fixed plate, a movable platform threadedly connected to the first screw provided on the base plate, the movable platform slidably connected to the base plate below, a first mounting groove provided on the movable platform, a rotatable slide cylinder provided in the first mounting groove, a third fixed plate provided on the base plate, a round shaft provided on the third fixed plate, one end of the round shaft rotatably connected to the third fixed plate, and the other end of the round shaft passing through the slide cylinder and rotatably connected to the second fixed plate; The flap monitoring mechanism includes a high-definition camera for acquiring visible light images of the flap area. The high-definition camera is mounted on the telescopic end of the robotic arm, which is also equipped with a distance sensor. The distance sensor monitors and provides feedback on the distance between the telescopic end of the robotic arm and the flap surface in real time, providing a data basis for distance calibration. The telescopic end of the robotic arm is also equipped with a thermal imaging sensor for acquiring temperature distribution data of the flap area to assess its blood supply status. The telescopic end of the robotic arm is also equipped with a multispectral imaging sensor for capturing the reflectance characteristics of the flap tissue in different spectral bands to obtain its physiological parameter characteristics.

[0008] In this design, the longitudinal movement mechanism utilizes a precision transmission method where a first motor drives a first screw. Combined with the sliding connection structure between the moving platform and the base plate, this achieves high-precision and stable adjustment of the robotic arm's longitudinal position. Compared to traditional mechanisms using cylinders, ordinary lead screws, or manual adjustment, the inherent self-locking and high-thrust characteristics of the first screw transmission effectively prevent load slippage and positioning drift, ensuring the stability and reliability of the robotic arm's position during long-term monitoring. The rotatable slide cylinder on the moving platform, in conjunction with the circular shaft, provides auxiliary support and guidance while enabling longitudinal movement of the moving platform. A high-definition camera provides clear, detailed images of the skin flap's appearance, and a distance sensor provides real-time feedback to the mechanical... The distance between the arm and the skin flap surface ensures that each measurement is performed at a uniform standard distance, solving the data error problem caused by distance fluctuations. The thermal imaging sensor can acquire skin flap temperature distribution data non-contactly, and the multispectral imaging sensor can reflect physiological parameters such as tissue oxygenation and hemoglobin by capturing the reflection characteristics under different spectral bands. Compared with existing devices that rely on a single visible light camera or handheld temperature measurement device, this device achieves comprehensive, objective, and quantitative monitoring of skin flap morphology, temperature, and physiological status through multi-source information synchronous acquisition and fusion. This greatly reduces human operation errors and the influence of subjective judgment, providing richer, more accurate, and consistent assessment data for clinical use.

[0009] Furthermore, the lateral movement mechanism includes a second motor, which is mounted on the base plate. The power output shaft of the second motor is fixedly connected to the round shaft. A plurality of limiting grooves are provided on the slide cylinder. A plurality of limiting plates are fixedly connected to the outer wall of the round shaft. The plurality of limiting plates pass through the plurality of limiting grooves respectively. A moving component for driving the slide table to move laterally is provided on the moving platform. The moving component includes a third screw, a sliding groove is provided on the moving platform, the third screw is disposed in the sliding groove, the third screw is rotatably connected to the inner wall of the sliding groove, the other end of the third screw passes through the moving platform, a worm gear is fixedly connected to one end of the third screw passing through the moving platform, a second mounting groove is provided on the moving platform, the second mounting groove communicates with the first mounting groove, a worm gear that can mesh with the worm gear is sleeved on the outer wall of the sliding cylinder, a slidable sliding platform is disposed in the sliding groove, the sliding platform is threadedly connected to the third screw, and a robotic arm is disposed above the sliding platform.

[0010] In this scheme, as the moving stage moves longitudinally along the circular shaft via the sliding cylinder, the second motor synchronously drives the circular shaft to rotate. Due to the cooperation between the limiting plate and the limiting groove, the rotation of the circular shaft synchronously drives the sliding cylinder to rotate on the moving stage without affecting its longitudinal movement. During the rotation of the sliding cylinder, the worm gear sleeved on the outer wall rotates synchronously. The rotation of the worm gear then drives the worm wheel meshing with it to rotate. The worm wheel ultimately drives the third screw to rotate in the sliding groove, thereby enabling the sliding stage, which is threadedly connected to the third screw, to achieve lateral displacement. While the moving stage drives the robotic arm to move longitudinally, the second motor can independently and synchronously drive the sliding stage to move laterally on the moving stage, achieving true two-dimensional plane precise positioning. This greatly improves the accuracy and comprehensiveness of flap monitoring, allowing the robotic arm to flexibly adjust to the optimal observation angle of the flap, ensuring the reliable implementation of multi-angle and all-round data acquisition, and providing a more accurate spatial benchmark for flap healing assessment.

[0011] Furthermore, it includes a nurse interaction terminal, a path planning module, a patient flap positioning module, a voice prompt interaction module, and a data acquisition and control module: The nurse's interactive terminal is used to input and manage patient information and the location of skin flap surgery. The path planning module is used to drive the mobile chassis to the side of the target bed; The patient flap positioning module is used to guide the robotic arm and the high-definition camera to the target area, so as to achieve accurate identification and preliminary positioning of the flap area; The voice prompt interaction module is used to issue position adjustment instructions to the patient; The acquisition and control module is used to automatically plan and execute multi-angle scanning paths for the flap area.

[0012] In this solution, after the nurse pre-enters patient information and flap location through the nurse interaction terminal, the path planning module can drive the device to autonomously navigate to the target bed. Subsequently, the patient flap positioning module guides the robotic arm and sensors to quickly reach the target area based on the pre-stored information and performs precise positioning through vision technology. If there is obstruction or unclear positioning, the voice prompt interaction module intervenes immediately, guiding the patient to adjust their position through human-computer interaction to create the best conditions for accurate detection. Finally, the acquisition control module automatically plans the optimal scanning trajectory, driving the robotic arm to drive the multimodal sensors to collect data from the flap from multiple angles and in all directions. Compared with the traditional mode that relies on manual operation, this solution realizes fully automated operation from information entry, bed location, flap positioning, patient guidance to data acquisition.

[0013] Furthermore, the nurse interaction terminal includes an information input unit, an instruction generation and sending unit, and an information receiving unit; The information input unit is used to input patient identification data and flap location data; The instruction generation and sending unit is used to generate navigation instructions containing the target bed number and send them to the mobile chassis; The information receiving unit is used to receive data feedback from the acquisition and control module.

[0014] In this solution, nurses only need to enter the patient identification and flap location data once on the nurse interactive terminal. The nurse interactive terminal can automatically generate navigation instructions containing the target bed number and accurately send them to the mobile chassis to start the operation process. After the test is completed, the nurse interactive terminal can automatically receive data from the all-round data acquisition module, which greatly improves the efficiency and reliability of the workflow, frees medical staff from tedious intermediate operations, and makes the flap detection process more intelligent and comprehensive.

[0015] Furthermore, the path planning module includes an environmental perception unit, a global path planning unit, and an obstacle avoidance and navigation unit; The environmental sensing unit is used to collect data on the environment around the ward and identify obstacles; The global path planning unit is used to plan a global movement route based on the location of the target bed; The obstacle avoidance and navigation unit is used to control the mobile chassis to travel along the planned path and avoid obstacles in real time.

[0016] In this solution, the environmental perception unit of the path planning module can collect real-time environmental data around the ward and accurately identify various obstacles, providing a reliable environmental information basis for equipment navigation. The global path planning unit, based on the built-in bed location information, intelligently calculates the optimal movement path from the current location to the target bed, realizing true autonomous navigation capability. The obstacle avoidance and navigation unit ensures that the equipment can travel safely along the planned path and adjusts the route in real time when encountering sudden obstacles, ensuring the safety of the movement process.

[0017] Furthermore, the patient flap localization module includes a visual coarse localization unit and a visual fine localization unit; The visual coarse positioning unit receives flap position information from the nurse's terminal, converts it into a three-dimensional spatial coordinate range by querying the internally stored anatomical coordinate mapping database, and drives the robotic arm to move to the approximate target airspace. Then, it controls the high-definition camera to scan the area and uses visual algorithms to quickly identify the shape and orientation of the target limb. If the identification is successful, the information is transferred to the fine positioning unit. If the identification fails due to occlusion or lighting, the voice prompt interaction module is invoked to request the patient's cooperation.

[0018] The visual precision positioning unit coordinates the high-definition camera and the multispectral imaging sensor to collect image data of the target area. It performs matching calculations between the image and the multispectral image. When the two types of features overlap, it is determined to be a flap area. If the feature matching is too low, the voice prompt interaction module is triggered to guide the patient to adjust their posture or eliminate interference.

[0019] In this solution, pre-stored information from the nurse's terminal is converted into spatial coordinates through an internal coordinate mapping database. This drives the robotic arm to the target airspace, where a coarse positioning unit quickly identifies the limb contour using a high-definition camera, efficiently completing the initial positioning and greatly reducing the blind search range. Subsequently, the fine positioning unit innovatively adopts multimodal sensor fusion technology, coordinating the high-definition camera and multispectral imaging sensors to comprehensively analyze morphological features (such as sutures and scars) in visible light images and physiological parameter features (such as blood oxygen distribution) in multispectral images. Through feature matching calculations, the flap region is finally confirmed only when the two types of features overlap in the same spatial location, thereby significantly improving the accuracy and reliability of the positioning results.

[0020] Furthermore, the voice prompt interaction module includes a control logic unit, a speech synthesis unit, and an audio playback unit; The control logic unit is used to parse the instruction signals from the flap positioning module and call the corresponding pre-stored voice template; The speech synthesis unit is used to convert text-formatted prompts into outputtable analog speech signals. The audio playback unit is used to amplify and broadcast the voice signal to guide the patient in adjusting their body position.

[0021] In this solution, the voice prompt interaction module can proactively and in real-time interact with the patient: the control logic unit accurately parses the instruction signals from the flap positioning module and intelligently calls the corresponding pre-stored voice templates to ensure that the prompt content is highly matched with the current testing status; the voice synthesis unit efficiently converts the text-format prompts into natural and fluent analog voice signals, avoiding a mechanical and rigid voice experience; and the audio playback unit clearly amplifies and broadcasts the voice signals, ensuring that patients can accurately receive guidance in various ward environments. During the testing process, specific and personalized position adjustment instructions are dynamically provided according to actual needs, such as "Please raise your arm by 5 cm" and "Please turn your wrist outward by 15 degrees," effectively guiding patients to fully expose the flap area and significantly improving patient cooperation and testing success rate.

[0022] Furthermore, the acquisition control module includes an acquisition path planning unit, a ranging control unit, a multi-sensor synchronous acquisition control unit, and a data preprocessing and transmission unit; The acquisition path planning unit is used to automatically plan an optimal scanning path containing multiple preset observation points based on the three-dimensional information of the flap region provided by the visual precision positioning unit. This path can guide the sensor to acquire images of the flap from multiple perspectives such as front, side, and top, ensuring no detection blind spots.

[0023] The distance measurement and control unit uses the laser distance measurement sensor to dynamically feedback the distance between the telescopic end of the robotic arm and the surface of the skin flap. After the robotic arm reaches the predetermined point, the distance is finely adjusted by the distance measurement sensor to accurately calibrate the acquisition distance and ensure that all data are acquired at a uniform distance.

[0024] The multi-sensor synchronous acquisition control unit is used to synchronously trigger signals to the multispectral imaging sensor and the thermal imaging sensor after the robotic arm distance adjustment is completed, so that all sensors can synchronously acquire data from the same location at the same time, ensuring data consistency.

[0025] The data preprocessing and sending unit is used to perform real-time quality assessment on the collected raw data and then send it to the nurse terminal, which receives the data through the information receiving unit.

[0026] In this solution, the acquisition path planning unit can automatically plan the optimal scanning path containing multiple preset observation points based on the 3D information of the flap area provided by the visual precision positioning unit. This ensures comprehensive image acquisition of the flap from multiple perspectives, including front, side, and top views, completely eliminating blind spots. The distance measurement control unit uses a laser distance sensor to dynamically feedback the distance between the robotic arm and the flap surface, achieving precise distance calibration and ensuring that all data are acquired at a uniform distance. This solves the problem of poor data comparability caused by inconsistent distances. The multi-sensor synchronous acquisition control unit ensures that multispectral imaging sensors, thermal imaging sensors, etc., can synchronously acquire data from the same location at the same time, avoiding data inconsistencies caused by temporal differences that may exist in comparison files. The data preprocessing and sending unit performs real-time quality assessment on the acquired raw data, ensuring that only qualified data is sent to the nurse terminal, greatly improving detection efficiency. Furthermore, by eliminating human operation errors and equipment system errors, it ensures that the acquired multi-dimensional data has extremely high consistency and reliability.

[0027] The flap monitoring method is characterized by comprising the following steps: S1: The nurse inputs the patient ID, name, and specific anatomical location information of the flap surgery through the information input unit of the nurse terminal; the instruction generation and sending unit of the nurse terminal sends the patient's bed number information to the path planning module, and at the same time sends the flap location information to the patient flap positioning module. S2: The environmental perception unit of the path planning module perceives the surrounding environment information, the global path planning unit calculates the optimal travel path of the mobile chassis based on the received bed number, and the obstacle avoidance and navigation unit controls the movement of the mobile chassis according to the path, so that it can navigate autonomously and stop precisely next to the target bed. S3: Start the first motor of the longitudinal movement mechanism. The first motor drives the first screw to rotate, causing the moving table to move longitudinally along the base plate. Start the second motor of the lateral movement mechanism. The second motor drives the circular shaft to rotate. The circular shaft drives the slide cylinder and worm gear to rotate through the cooperation of the limiting plate and the limiting groove. The worm gear drives the turbine and the third screw to rotate, thereby causing the sliding table and the robotic arm to move laterally. Through the coordinated action of the longitudinal and lateral movement mechanisms, the end of the robotic arm is precisely positioned to the initial detection position close to the bed and facing the patient. The high-definition camera at the extension end of the robotic arm collects the overall image of the patient and identifies the patient's current body posture (including supine, lateral, sitting, or standing). Based on the posture recognition results, the initial detection orientation and height of the robotic arm are adjusted to adapt to the current patient position. S4: The visual coarse positioning unit of the patient flap positioning module receives flap position information, controls the movement of the robotic arm, and makes the high-definition camera aim at the target limb area and acquire images. The visual algorithm attempts to identify the outline of the target limb. If the identification fails, the voice prompt interaction module plays a voice prompt to guide the patient to adjust the posture, and then the identification is performed again. S5: The visual precision positioning unit of the patient flap positioning module synchronously controls the high-definition camera and multispectral imaging sensor to collect data on the target area. By fusing the morphological features in the visible light image and the physiological features in the multispectral image, it achieves accurate matching and boundary determination of the flap area. If the matching confidence is insufficient, it provides accurate guidance again through the voice prompt interaction module and performs matching again. S6: The acquisition path planning unit of the acquisition control module generates a multi-angle surround scanning path sequence based on the determined flap position coordinates; S7: The robotic arm moves along the planned path. The distance measurement control unit measures the distance between the sensor head and the skin flap surface in real time through the laser distance measurement sensor and feeds back to control the robotic arm to make micro-adjustments. The multi-sensor synchronous acquisition control unit triggers the high-definition camera, multispectral imaging sensor and thermal imaging sensor at the same time to collect multimodal data of the skin flap. S8: The data integration and control unit performs real-time quality assessment and packaging of the collected raw data, and sends it to the nurse's terminal via the network; S9: Nurses receive data through a nurse terminal and view the monitoring information of the patient's skin flap.

[0028] The working principle and beneficial effects of this solution are as follows: The mobile chassis senses obstacles through the environmental perception unit, and the global path planning unit calculates the optimal path to navigate to the designated bed. Due to the safety gap between the chassis and the bed, the first motor is activated to drive the first screw to rotate, causing the mobile platform to slide longitudinally. At the same time, the second motor drives the circular shaft to rotate, and the sliding platform moves laterally through the limit plate, slide cylinder, worm gear and worm wheel, completing the secondary precise positioning of the robotic arm. Subsequently, the patient flap positioning module works. The visual coarse positioning unit converts the flap position information input by the nurse into target coordinates based on the "surgical position-coordinate" mapping table, guiding the high-definition camera to identify the outline of the target limb. The visual fine positioning unit integrates the morphological features of visible light images and the physiological features of multispectral images to accurately lock the flap position. The acquisition control module generates a surrounding scanning path based on the precise coordinates of the flap, and the ranging control unit ensures that the acquisition distance is constant. Multiple sensors simultaneously acquire flap data and send it to the nurse terminal, solving the technical problems of existing flap monitoring equipment that require manual pushing to the bedside, resulting in heavy workload for nursing staff and low monitoring efficiency. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of an embodiment; Figure 2 This is a top view of an embodiment; Figure 3 Exploded view of the moving component in the embodiment; Figure 4 Example Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the flap monitoring mechanism in an example. Figure 6 This is a schematic diagram of the flap monitoring system in an example.

[0030] The following components are labeled in the attached diagram: 1. Mobile chassis; 2. Base plate; 3. Mounting column; 4. Robotic arm; 6. Flap monitoring mechanism; 7. First motor; 8. First fixing plate; 9. Second fixing plate; 10. First screw; 11. Third fixing plate; 12. Moving stage; 13. Slide cylinder; 14. Round shaft; 15. First mounting groove; 16. Drive wheel; 17. Driven wheel; 18. Fourth fixing plate; 19. Second screw; 20. Belt; 21. Second motor; 22. Limiting plate; 23. Limiting groove; 24. Third screw; 25. Worm gear; 26. Turbine; 27. Sliding stage; 28. Second mounting groove; 29. ​​Sliding groove; 30. High-definition camera; 31. Distance sensor; 32. Thermal imaging sensor; 32. Multispectral imaging sensor. 33. Device, 34. Nurse Interaction Terminal, 35. Information Input Unit, 36. Instruction Generation and Sending Unit, 37. Data Storage Unit, 38. Information Receiving Unit, 39. Path Planning Module, 40. Environmental Perception Unit, 41. Global Path Planning Unit, 42. Obstacle Avoidance and Navigation Unit, 43. Patient Flap Positioning Module, 44. Visual Coarse Positioning Unit, 45. Visual Fine Positioning Unit, 46. Voice Prompt Interaction Module, 47. Control Logic Unit, 48. Voice Synthesis Unit, 49. Audio Playback Unit, 50. Acquisition Control Module, 51. Acquisition Path Planning Unit, 52. Distance Measurement Control Unit, 53. Multi-Sensor Synchronous Acquisition Control Unit, 54. Data Preprocessing and Sending Unit. Detailed Implementation

[0031] The following detailed description illustrates the specific implementation method: Example

[0032] like Figures 1 to 6 As shown, a flap monitoring device, system, and method are disclosed, including a mobile chassis 1, a base plate 2, a longitudinal moving mechanism, a lateral moving mechanism, a mounting column 3, a robotic arm 4, a flap monitoring mechanism 6, and a flap monitoring system. The base plate 2 is mounted on the upper surface of the mobile chassis 1. The longitudinal moving mechanism is provided on the base plate 2. The mounting column 3 is provided on the longitudinal moving mechanism. The lateral moving mechanism is provided on the longitudinal moving mechanism. The lateral moving mechanism can cooperate with the longitudinal moving mechanism to drive the mounting column 3 to move. The robotic arm 4 is provided on the mounting column 3. The telescopic end of the robotic arm 4 is provided with a flap monitoring mechanism 6 for detecting the patient's flap. The telescopic end of the robotic arm 4 is provided with a flap monitoring system for detecting the patient's flap. The mobile chassis 1 and the robotic arm 4 are existing technologies.

[0033] like Figure 1 and Figure 2As shown, the longitudinal moving mechanism includes a first motor 7, a first fixed plate 8, a second fixed plate 9, a first screw 10, a third fixed plate 11, a moving stage 12, a slide cylinder 13, a round shaft 14, and a linkage assembly. The first motor 7 is mounted on the base plate 2, and the first fixed plate 8 and the second fixed plate 9 are fixedly connected to the base plate 2. The second fixed plate 9 is positioned opposite to the first fixed plate 8. The first screw 10 is mounted on the power output shaft of the first motor 7. One end of the first screw 10 is fixedly connected to the power output shaft of the first motor 7, and the other end of the first screw 10 passes through the first fixed plate 8 and is rotatably connected to the second fixed plate 9. A movable platform 12 is provided on the base plate 2. The movable platform 12 is threadedly connected to the first screw 10. The lower end face of the movable platform 12 is slidably connected to the upper end face of the base plate 2. A first mounting groove 15 is provided on the movable platform 12. A rotatable slide cylinder 13 is installed in the first mounting groove 15. A third fixing plate 11 is fixedly connected to the base plate 2. A round shaft 14 is provided on the third fixing plate 11. One end of the round shaft 14 is rotatably connected to the third fixing plate 11. The other end of the round shaft 14 passes through the slide cylinder 13 and is rotatably connected to the second fixing plate 9. A linkage component is provided on the base plate 2. The linkage component is used to link with the first motor 7 and drive the movable platform 12 to move.

[0034] like Figure 2 As shown, the linkage assembly includes a drive wheel 16, a driven wheel 17, a fourth fixed plate 18, a second screw 19, and a belt 20. The drive wheel 16 is fixedly connected to the first screw 10, and the fourth fixed plate 18 is fixedly connected to the base plate 2. The second screw 19 is provided on the fourth fixed plate 18. One end of the second screw 19 is rotatably connected to the fourth fixed plate 18, and the other end of the second screw 19 is threadedly connected to the moving table 12 and then rotatably connected to the second fixed plate 9. The driven wheel 17 is fixedly connected to the end of the second screw 19 away from the second fixed plate 9. The drive wheel 16 and the driven wheel 17 are connected and driven by the belt 20.

[0035] like Figure 2 As shown, the lateral movement mechanism includes a second motor 21, several limiting plates 22, and a moving component. The second motor 21 is fixedly connected to the base plate 2. The power output shaft of the second motor 21 is fixedly connected to one end of the round shaft 14 near the third fixed plate 11. Several limiting grooves 23 are provided on the slide cylinder 13. Several limiting plates 22 are fixedly connected to the outer wall of the round shaft 14 along the circumference. Several limiting plates 22 pass through several limiting grooves 23 respectively. A moving component is provided above the moving platform 12. The moving component is used to drive the mounting column 3 to move laterally. The moving component can cooperate with the slide cylinder 13.

[0036] like Figure 3 and Figure 4As shown, the moving assembly includes a third screw 24, a worm gear 25, a turbine 26, and a sliding table 27. A second mounting groove 28 is provided on the moving table 12, which communicates with the first mounting groove 15. The worm gear 25 is sleeved on the outer wall of the slide cylinder 13 and is located in the second mounting groove 28. A sliding groove 29 is provided above the moving table 12, and a third screw 24 is provided in the sliding groove 29. One end of the third screw 24 is rotatably connected to the inner wall of the sliding groove 29, and the other end of the third screw 24 passes through the moving table 12. A worm wheel is fixedly connected to the end of the third screw 24 that passes through the moving table 12, and the worm wheel meshes with the worm gear 25. A slidable sliding table 27 is provided in the sliding groove 29, and the sliding table 27 is threadedly connected to the third screw 24. The upper end face of the sliding table 27 is fixedly connected to the lower end face of the mounting post 3.

[0037] like Figure 5 As shown, the flap monitoring mechanism 6 includes a high-definition camera 30, a ranging sensor 31, a thermal imaging sensor 32, and a multispectral imaging sensor 33. The telescopic end of the robotic arm 4 is equipped with a high-definition camera 30 for scanning the flap. The telescopic end of the robotic arm 4 is also equipped with a ranging sensor 31 for measuring the distance between the telescopic end of the robotic arm 4 and the flap. The telescopic end of the robotic arm 4 is also equipped with a thermal imaging sensor 32 for detecting the temperature of the flap epidermis. The telescopic end of the robotic arm 4 is also equipped with a sensor for capturing the reflection characteristics of the flap tissue in different spectral bands to evaluate its blood supply and tissue activity.

[0038] like Figure 6 As shown in this embodiment, the flap monitoring system includes: a nurse interaction terminal 34, a path planning module 39, a patient flap positioning module 43, a voice prompt interaction module 46, and a data acquisition and control module 50. The nurse interaction terminal 34 is used by nurses to input basic patient information and flap surgery location. The path planning module 39 is used to control the mobile chassis 1 to move to the designated bed. The patient flap positioning module 43 is used to receive the flap's gross position information sent by the nurse terminal and then control the robotic arm 4 and the high-definition camera 30 to move to the gross anatomical area. The voice prompt interaction module 46 is used to provide voice prompts to the patient to actively cooperate. The data acquisition and control module 50 is used to control the robotic arm 4 to perform multi-angle and all-round data acquisition on the flap at the optimal distance and angle.

[0039] like Figure 6As shown, the nurse interaction terminal 34 includes an information input unit 35, an instruction generation and sending unit 36, a data storage unit 37, and an information receiving unit 38. The information input unit 35 is used by nurses to input basic patient information, such as patient ID, name, hospital number, and bed number, as well as the location of the patient's skin flap surgery, such as the radial side of the left upper limb, the right chest wall, and the gastrocnemius region of the left lower limb. The instruction generation and sending unit 36 ​​is used to send the patient's bed number to the path planning module 39. The data storage unit 37 is used to manage patient data and realize the traceability and reusability of information. The information receiving unit 38 is used to receive information sent by the acquisition and control module 50.

[0040] like Figure 6 As shown, the path planning module 39 includes an environmental perception unit 40, a global path planning unit 41, and an obstacle avoidance and navigation unit 42. The environmental perception unit 40 is used to perceive the surrounding environment and obstacles, the global path planning unit 41 is used to embed the bed location information and calculate the optimal path, and the obstacle avoidance and navigation unit 42 is used to achieve safe and precise movement control.

[0041] like Figure 6 As shown, the patient flap positioning module 43 includes a visual coarse positioning unit 44 and a visual fine positioning unit 45. The visual coarse positioning unit 44 is used to receive and parse the patient flap surgical position information from the nurse interaction terminal 34. The visual coarse positioning unit 44 has a pre-set mapping table of "anatomical position - approximate coordinates of robotic arm 4". The visual coarse positioning unit 44 converts the text command into a three-dimensional spatial coordinate range of a target area (i.e., an approximate workspace), generates preliminary movement commands and controls the movement of robotic arm 4. The robotic arm 4 controls the high-definition camera 30 to take pictures of the specified approximate area and uses visual algorithms to quickly identify the overall outline and orientation of the target limb. If the outline and effective area of ​​the target limb are clearly identified in the image, it is determined that the coarse positioning is successful and the result is directly transmitted to the visual fine positioning unit 45. If the target limb cannot be reliably identified due to improper patient posture (such as the limb being completely covered by a blanket, or the body being severely tilted), extremely poor lighting, or other reasons, the visual coarse positioning unit 44 will generate a command to request cooperation and trigger the voice prompt interaction module 46. The visual precision positioning unit 45 is used to acquire three-dimensional coordinate data of the skin flap by synchronously controlling the high-definition camera 30 and the multispectral imaging sensor 33. First, the morphological features such as sutures and scars extracted from the visible light image are fused and compared with the physiological features such as blood oxygen distribution generated in the multispectral image. When the two types of features corroborate each other in the same area, it is determined that the skin flap area has been successfully located. If the feature matching degree is insufficient due to occlusion, reflection or other reasons, a command to request cooperation is generated to trigger the voice prompt interaction module 46 to guide the patient to cooperate.

[0042] like Figure 6As shown, the voice prompt interaction module 46 includes a control logic unit 47, a speech synthesis unit 48, and an audio playback unit 49. The control logic unit 47 is used to receive instructions from the "patient flap positioning module 43" (such as "the patient needs to turn to the left") and trigger the corresponding preset voice prompt content to be played. The speech synthesis unit 48 is used to convert text instructions (such as "please raise your arm") into speech signals. The audio playback unit 49 is used to play the generated voice prompts to ensure that the patient can hear them clearly.

[0043] like Figure 6 As shown, the acquisition control module 50 includes an acquisition path planning unit 51, a ranging control unit 52, a multi-sensor synchronous acquisition control unit 53, and a data preprocessing and sending unit 54. The acquisition path planning unit 51 receives the three-dimensional coordinates of the flap region from the visual precision positioning unit 45 and automatically generates a sequence of scanning points around the region at multiple preset angles based on these coordinates. This path ensures that images and data can be acquired from multiple angles such as the front, left, right, and top of the flap, achieving full coverage without blind spots. The ranging control unit 52 monitors the distance between the sensor head and the flap surface in real time through the laser ranging sensor 31, and controls the machine after the robotic arm 4 reaches each scanning point. The robotic arm 4 moves along a direction perpendicular to the skin flap surface to perform precise distance calibration, ensuring that the working distance remains strictly consistent during each acquisition, thus guaranteeing uniform data scale and accuracy. The multi-sensor synchronous acquisition control unit 53 is used to send synchronous acquisition commands to the multispectral imaging sensor 33, thermal imaging sensor 32, etc., after the robotic arm 4 has been positioned and adjusted, ensuring that multimodal data of the skin flap is acquired at the same time and in the same spatial location. The data preprocessing and sending unit 54 is used to perform real-time quality judgment on the acquired raw data, including evaluating image clarity and data validity, and to send data packets with point information and quality judgment results to the nurse terminal for the nurse to confirm the acquisition effect immediately.

[0044] The flap monitoring method includes the following steps: S1: The nurse enters the patient ID, name and specific anatomical location information of the flap surgery through the information input unit 35 of the nurse interaction terminal 34; the instruction generation and sending unit 36 ​​sends the patient's bed number to the path planning module 39 and the flap location information to the patient flap positioning module 43. S2: The environmental perception unit 40 of the path planning module 39 perceives the surrounding environment, the global path planning module 39 calculates the optimal path based on the received bed number information, and the obstacle avoidance and navigation unit 42 controls the movement of the mobile chassis 1 to autonomously navigate and accurately stop next to the target bed. S3: The first motor 7 of the longitudinal movement mechanism is activated, driving the first screw 10 to rotate, which in turn moves the moving platform 12 longitudinally along the base plate 2. The second motor 21 of the lateral movement mechanism is activated, driving the circular shaft 14 to rotate. The circular shaft 14, through the cooperation of the limiting plate 22 and the limiting groove 23, drives the slide cylinder 13 and the worm gear 25 to rotate. The worm gear 25 drives the turbine 26 and the third screw 24 to rotate, which in turn moves the sliding platform 27 and the robotic arm 4 laterally. Through the coordinated action of the longitudinal and lateral movement mechanisms, the end of the robotic arm 4 is positioned to the initial detection position facing the patient. The high-definition camera 30 at the telescopic end of the robotic arm 4 captures the overall image of the patient and identifies the patient's current body posture (including supine, lateral, sitting, or standing). Based on the posture recognition results, the initial detection orientation and height of the robotic arm 4 are adjusted to adapt to the current patient position. S4: The visual coarse positioning unit 44 of the patient flap positioning module 43 receives the flap position information in S1, calls the built-in "anatomical position-coordinate" mapping table, controls the robotic arm 4 to move the high-definition camera 30 to the air above the target limb area, the camera captures an image, and the visual algorithm attempts to identify the overall outline of the target limb. If the identification is successful, proceed to step S5. If the identification fails (e.g., due to occlusion), the voice prompt interaction module 46 is triggered to play a voice prompt (e.g., "Please show your left arm") to guide the patient to adjust their posture, and then return to this step to re-identify. S5: The visual precision positioning unit 45 synchronously controls the high-definition camera 30 and the multispectral imaging sensor 33 to collect data on the coarse positioning area. It fuses and compares the morphological features such as sutures and scars extracted from the visible light image with the physiological features such as blood oxygen distribution reflected in the multispectral image to accurately lock the boundary and central area of ​​the skin flap. If the match is successful and the precise positioning is achieved, it proceeds to step S6. If the feature matching degree is insufficient, the voice prompt interaction module 46 is triggered again to provide more precise guidance (such as "Please turn slightly to the left"), and then it returns to this step to re-perform feature matching. S6: The acquisition path planning unit 51 of the acquisition control module 50 receives the precisely located three-dimensional coordinates of the flap and automatically generates a scanning path sequence that includes multiple preset angles and surrounds the flap area. S7: The robotic arm 4 moves along the planned path. For each scanning point on the path, the ranging control unit 52 monitors the distance between the sensor head and the skin flap surface in real time through the laser ranging sensor 31, and controls the robotic arm 4 to make fine adjustments to ensure that the working distance for each acquisition is strictly consistent. After positioning is completed, the multi-sensor synchronous acquisition control unit 53 sends synchronous trigger commands to the high-definition camera 30, multispectral imaging sensor 33, thermal imaging sensor 32, etc., to acquire multimodal data (visible light image, multispectral image, temperature distribution, etc.) of the skin flap at the same time and at the same position. S8: The data preprocessing and sending unit 54 performs real-time quality assessment on the collected raw data (such as determining whether the image is clear and whether the data is valid), packages the data and sends it to the nurse terminal. S9: The nurse receives data packets through the information receiving unit 38 on the nurse terminal and can view the monitoring information of the patient's skin flap in real time.

[0045] In practice: When the mobile chassis 1 senses surrounding obstacles via the environmental perception unit 40 on the path planning module 39, the global path planning unit 41 calculates the optimal path based on the bed number sent by the instruction generation and sending unit 36. The obstacle avoidance and navigation unit 42 controls the chassis to move. After safely navigating to the designated bed, due to the safety gap between the mobile chassis 1 and the bed, the telescopic end of the robotic arm 4 can directly reach the optimal detection position. First, the first motor 7 on the base plate 2 is started. The first motor 7 drives the first screw 10 located on the first fixed plate 8 and the second fixed plate 9 to rotate clockwise. After the first screw 10 starts to rotate, since the moving platform 12 is threadedly connected to the first screw 10, the moving platform 12 will slide on the base plate 2 following the rotation of the first screw 10. The movement of the moving platform 12 will be similar to the movement of the first screw 10. The sliding platform 27, mounting column 3, and robotic arm 4 above are moved synchronously. Since the first mounting groove 15 on the moving platform 12 is equipped with a sliding cylinder 13, the moving platform 12 slides on the round shaft 14 located on the third fixed plate 11 and the second fixed plate 9 through the sliding cylinder 13. When the first screw 10 rotates, it drives the driving wheel 16 to rotate. The rotation of the driving wheel 16 drives the belt 20 to rotate, which in turn drives the driven wheel 17 to rotate. When the driven wheel 17 starts to rotate, it synchronously drives the second screw 19 located on the fourth fixed plate 18 and the second fixed plate 9 to rotate. When the second screw 19 starts to rotate, it synchronously follows the first screw 10 to drive the moving platform 12 to move. The longitudinal movement of the moving platform 12 on the base plate 2 is completed by the first screw 10 and the second screw 19.

[0046] When the first motor 7 drives the moving platform 12 to move longitudinally, the second motor 21 can synchronously drive the circular shaft 14 to rotate. After the circular shaft 14 starts to rotate, it synchronously drives the limiting plate 22 fixed on the outer wall to rotate. Since the sliding cylinder 13 has a limiting groove 23, and the limiting plate 22 passes through the limiting groove 23, after the limiting plate 22 starts to rotate, it synchronously drives the sliding cylinder 13 to rotate in the first mounting groove 15. After the sliding cylinder 13 rotates, it drives the worm 25 located in the second mounting groove 28 to rotate. The worm 25 synchronously drives the worm wheel to rotate. The worm wheel drives the third screw 24 to rotate on the sliding groove 29. Since the sliding groove 29 is provided with a sliding platform 27, the sliding platform 27... 7 is threadedly connected to the third screw 24. When the third screw 24 rotates, it will synchronously drive the sliding table 27 to move laterally in the sliding groove 29. When the moving table 12 moves longitudinally, the sliding cylinder 13 on the moving table 12 has a limit groove 23. During the longitudinal movement of the moving table 12, the sliding cylinder 13 will move along the circular shaft 14. At the same time, the limit plate 22 on the circular shaft 14 will move in the limit groove 23 on the sliding cylinder 13. When the second motor 21 drives the circular shaft 14 to rotate, the limit plate 22, because it is set in the limit groove 23, will synchronously drive the sliding cylinder 13 to rotate on the moving table 12 without interfering with the longitudinal movement of the moving table 12.

[0047] Through the coordinated operation of the longitudinal and lateral movement mechanisms, the telescopic end of the robotic arm 4 is precisely adjusted to the optimal position close to the hospital bed. At this time, the high-definition camera 30 at the telescopic end of the robotic arm 4 acquires an overall image of the patient and identifies the patient's current body posture (including supine, lateral, sitting, or standing). Based on the posture recognition results, the detection orientation and height of the robotic arm 4 are adjusted to adapt to the current patient position. At this time, the patient flap positioning module 43 starts to work. The visual coarse positioning unit 44 first receives and parses the flap surgery position information input by the nurse from the information input unit 35 on the nurse interaction terminal 34, and generates instructions. The sending unit 36 ​​converts the text into control commands that provide general information about the flap's position. The visual coarse positioning unit 44, based on the built-in "anatomical position-coordinate" mapping table, converts the text commands into target movement coordinates for the robotic arm 4. It controls the robotic arm 4 to move the high-definition camera 30 above the target area and quickly identify the overall outline of the target limb. If the identification is successful, the information is transmitted to the visual fine positioning unit 45. If the identification fails due to occlusion or other reasons, the control logic unit 47 on the voice prompt interaction module 46 is triggered to generate commands. The voice synthesis unit 48 converts the commands into voice, and the audio playback unit 49 plays commands that prompt the patient to adjust their posture. After the visual coarse positioning unit 44 positions the skin flap, the visual fine positioning unit 45 simultaneously controls the high-definition camera 30 and the multispectral imaging sensor 33 to collect data on the visual coarse positioning area. It then fuses and compares the morphological features (such as sutures and scars) in the visible light image with the physiological features (such as blood oxygen distribution) in the multispectral image to accurately lock the skin flap boundary. If the feature matching degree is insufficient, the voice prompt interaction module 46 will be triggered again to request the patient's cooperation. After accurately locating the flap, the acquisition control module 50 is activated. The acquisition path planning unit 51 automatically generates a multi-angle, dead-spot-free scanning path sequence around the flap based on the obtained precise three-dimensional coordinates of the flap. The ranging control unit 52 monitors and adjusts the distance between the sensor head and the flap surface in real time through the laser ranging sensor 31 to ensure that the reference distance for each acquisition is constant. After the robotic arm 4 moves to each predetermined angle according to the planned path, the multi-sensor synchronous acquisition control unit 53 sends synchronous trigger commands to the multispectral imaging sensor 33, thermal imaging sensor 32, etc., to acquire multimodal data (such as spectral images and temperature distribution) of the flap at the same time and location. Finally, the data preprocessing and sending unit 54 performs a preliminary quality assessment and packages the acquired raw data and sends it to the information receiving unit 38 of the nurse terminal. The nurse can view various monitoring information of the patient's flap in real time through the nurse terminal.

[0048] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics in the solutions is not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or its practicality.

Claims

1. A flap monitoring device, characterized in that: The device includes a mobile chassis that supports the entire flap monitoring system and enables autonomous navigation and positioning within the ward environment. A base plate is mounted on the chassis, and a longitudinal movement mechanism is mounted on the base plate. A robotic arm is mounted on the longitudinal movement mechanism, and a lateral movement mechanism is also mounted on the longitudinal movement mechanism. These two mechanisms cooperate to adjust the position of the robotic arm after the mobile chassis has been positioned. A flap monitoring mechanism is located at the telescopic end of the robotic arm for preliminary scanning and data acquisition of the patient's body posture and the flap area. A flap monitoring system is also provided to identify the patient's body posture characteristics and locate the target flap area based on preliminary scan data. Based on the body posture characteristics, the system generates position adjustment commands for the robotic arm, controlling the longitudinal and lateral movement mechanisms to work together to move the robotic arm to a preliminary detection position adapted to the patient's current posture. The flap monitoring system is also used to control the flap monitoring mechanism to perform secondary data acquisition after preliminary positioning, and further control the longitudinal and lateral movement mechanisms to adjust their positions based on the acquisition results, ultimately achieving accurate alignment and omnidirectional scanning of the flap area to be tested.

2. The flap monitoring device according to claim 1, characterized in that: The longitudinal moving mechanism includes a first motor mounted on the base plate. A first fixed plate is fixedly connected to the base plate, and a second fixed plate is mounted on the base plate. A first screw is provided on the power output shaft of the first motor and is fixedly connected to the power output end of the first motor. The other end of the first screw passes through the first fixed plate and is rotatably connected to the second fixed plate. A movable platform threadedly connected to the first screw is provided on the base plate. The lower part of the movable platform is slidably connected to the base plate. A first mounting groove is provided on the movable platform, and a rotatable slide cylinder is provided in the first mounting groove. A third fixed plate is provided on the base plate, and a round shaft is provided on the third fixed plate. One end of the round shaft is rotatably connected to the third fixed plate, and the other end of the round shaft passes through the slide cylinder and is rotatably connected to the second fixed plate. The flap monitoring mechanism includes a high-definition camera for acquiring visible light images of the flap area. The high-definition camera is mounted on the telescopic end of the robotic arm, which is also equipped with a distance sensor. The distance sensor monitors and provides feedback on the distance between the telescopic end of the robotic arm and the flap surface in real time, providing a data basis for distance calibration. The telescopic end of the robotic arm is also equipped with a thermal imaging sensor for acquiring temperature distribution data of the flap area to assess its blood supply status. The telescopic end of the robotic arm is also equipped with a multispectral imaging sensor for capturing the reflectance characteristics of the flap tissue in different spectral bands to obtain its physiological parameter characteristics.

3. The flap monitoring device according to claim 2, characterized in that: The lateral movement mechanism includes a second motor, which is mounted on the base plate. The power output shaft of the second motor is fixedly connected to the round shaft. The slide cylinder is provided with several limiting grooves. Several limiting plates are fixedly connected to the outer wall of the round shaft. The several limiting plates pass through the several limiting grooves respectively. The moving platform is provided with a moving component for driving the sliding platform to move laterally. The moving component includes a third screw, a sliding groove is provided on the moving platform, the third screw is disposed in the sliding groove, the third screw is rotatably connected to the inner wall of the sliding groove, the other end of the third screw passes through the moving platform, a worm gear is fixedly connected to one end of the third screw passing through the moving platform, a second mounting groove is provided on the moving platform, the second mounting groove communicates with the first mounting groove, a worm gear that can mesh with the worm gear is sleeved on the outer wall of the sliding cylinder, a slidable sliding platform is disposed in the sliding groove, the sliding platform is threadedly connected to the third screw, and a robotic arm is disposed above the sliding platform.

4. A flap monitoring system, characterized in that: The flap monitoring device as described in any one of claims 1-3 includes a nurse interaction terminal, a path planning module, a patient flap positioning module, a voice prompt interaction module, and a data acquisition and control module. The nurse's interactive terminal is used to input and manage patient information and the location of skin flap surgery. The path planning module is used to drive the mobile chassis to the side of the target bed; The patient flap positioning module is used to guide the robotic arm and the high-definition camera to the target area, so as to achieve accurate identification and preliminary positioning of the flap area; The voice prompt interaction module is used to issue position adjustment instructions to the patient; The acquisition and control module is used to automatically plan and execute multi-angle scanning paths for the flap area.

5. The flap monitoring system according to claim 4, characterized in that: The nurse interaction terminal includes an information input unit, an instruction generation and sending unit, and an information receiving unit; The information input unit is used to input patient identification data and flap location data; The instruction generation and sending unit is used to generate navigation instructions containing the target bed number and send them to the mobile chassis; The information receiving unit is used to receive data feedback from the acquisition and control module.

6. The flap monitoring system according to claim 4, characterized in that: The path planning module includes an environmental perception unit, a global path planning unit, and an obstacle avoidance and navigation unit. The environmental sensing unit is used to collect data on the environment around the ward and identify obstacles; The global path planning unit is used to plan a global movement route based on the location of the target bed; The obstacle avoidance and navigation unit is used to control the mobile chassis to travel along the planned path and avoid obstacles in real time.

7. The flap monitoring system according to claim 4, characterized in that: The patient flap localization module includes a visual coarse localization unit and a visual fine localization unit; The visual coarse positioning unit receives flap position information from the nurse's terminal, converts it into a three-dimensional spatial coordinate range by querying an internally stored anatomical coordinate mapping database, and drives the robotic arm to move to the target area. It then controls the high-definition camera to scan the area, using visual algorithms to quickly identify the outline and orientation of the target limb. If identification is successful, the information is transferred to the fine positioning unit. If identification fails due to occlusion or lighting conditions, the voice prompt interaction module is invoked to request patient cooperation. The visual precision positioning unit coordinates the high-definition camera and the multispectral imaging sensor to collect image data of the target area. It performs matching calculations between the image and the multispectral image. When the two types of features overlap, it is determined to be a flap area. If the feature matching is too low, the voice prompt interaction module is triggered to guide the patient to adjust their posture or eliminate interference.

8. The flap monitoring system according to claim 4, characterized in that: The voice prompt interaction module includes a control logic unit, a voice synthesis unit, and an audio playback unit; The control logic unit is used to parse the instruction signals from the flap positioning module and call the corresponding pre-stored voice template; The speech synthesis unit is used to convert text-formatted prompts into outputtable analog speech signals; The audio playback unit is used to amplify and broadcast the voice signal to guide the patient in adjusting their body position.

9. The flap monitoring system according to claim 4, characterized in that: The acquisition control module includes an acquisition path planning unit, a ranging control unit, a multi-sensor synchronous acquisition control unit, and a data preprocessing and transmission unit. The acquisition path planning unit is used to automatically plan an optimal scanning path containing multiple preset observation points based on the three-dimensional information of the flap region provided by the visual precision positioning unit. This path can guide the sensor to acquire images of the flap from multiple perspectives such as front, side, and top, ensuring no detection blind spots. The distance measurement and control unit uses the laser distance measurement sensor to dynamically feed back the distance between the telescopic end of the robotic arm and the surface of the skin flap. After the robotic arm reaches the predetermined point, the distance is finely adjusted by the distance measurement sensor to accurately calibrate the acquisition distance and ensure that all data are acquired at a uniform distance. The multi-sensor synchronous acquisition control unit is used to synchronously trigger signals to the multispectral imaging sensor and the thermal imaging sensor after the robotic arm distance adjustment is ready, so that all sensors can synchronously acquire data from the same part at the same time. The data preprocessing and sending unit is used to perform real-time quality assessment on the collected raw data and then send it to the nurse terminal, which receives the data through the information receiving unit.

10. A flap monitoring method, characterized in that, Includes the following steps: S1: The nurse inputs the patient ID, name, and specific anatomical location information of the flap surgery through the information input unit of the nurse terminal; the instruction generation and sending unit of the nurse terminal sends the patient's bed number information to the path planning module, and at the same time sends the flap location information to the patient flap positioning module. S2: The environmental perception unit of the path planning module perceives the surrounding environment information, the global path planning unit calculates the optimal travel path of the mobile chassis based on the received bed number, and the obstacle avoidance and navigation unit controls the movement of the mobile chassis according to the path, so that it can navigate autonomously and stop precisely next to the target bed. S3: Start the first motor of the longitudinal movement mechanism. The first motor drives the first screw to rotate, causing the moving table to move longitudinally along the base plate. Start the second motor of the lateral movement mechanism. The second motor drives the circular shaft to rotate. The circular shaft drives the slide cylinder and worm gear to rotate through the cooperation of the limiting plate and the limiting groove. The worm gear drives the turbine and the third screw to rotate, thereby causing the sliding table and the robotic arm to move laterally. Through the coordinated action of the longitudinal and lateral movement mechanisms, the end of the robotic arm is precisely positioned to the initial detection position close to the bed and facing the patient. The high-definition camera at the extension end of the robotic arm collects the overall image of the patient, identifies the patient's current body posture, and adjusts the initial detection orientation and height of the robotic arm based on the posture recognition results to adapt to the current patient position. S4: The visual coarse positioning unit of the patient flap positioning module receives flap position information, controls the movement of the robotic arm, and makes the high-definition camera aim at the target limb area and acquire images. The visual algorithm attempts to identify the outline of the target limb. If the identification fails, the voice prompt interaction module plays a voice prompt to guide the patient to adjust the posture, and then the identification is performed again. S5: The visual precision positioning unit of the patient flap positioning module synchronously controls the high-definition camera and multispectral imaging sensor to collect data on the target area. By fusing the morphological features in the visible light image and the physiological features in the multispectral image, it achieves accurate matching and boundary determination of the flap area. If the matching confidence is insufficient, it provides accurate guidance again through the voice prompt interaction module and performs matching again. S6: The acquisition path planning unit of the acquisition control module generates a multi-angle surround scanning path sequence based on the determined flap position coordinates; S7: The robotic arm moves along the planned path. The distance measurement control unit measures the distance between the sensor head and the skin flap surface in real time through the laser distance measurement sensor and feeds back to control the robotic arm to make micro-adjustments. The multi-sensor synchronous acquisition control unit triggers the high-definition camera, multispectral imaging sensor and thermal imaging sensor at the same time to collect multimodal data of the skin flap. S8: The data integration and control unit performs real-time quality assessment and packaging of the collected raw data, and sends it to the nurse's terminal via the network; S9: Nurses receive data through a nurse terminal and view the monitoring information of the patient's skin flap.

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