Wound cleaning and nursing device

Abstract

The invention is suitable for the technical field of medical equipment, and provides a wound cleaning and nursing device. The device comprises an arm fixing device which is arranged on a supporting device and is used for fixing an injured arm of a patient; the medicine spraying device is mounted on the supporting device and used for cleaning and spraying medicine to the wound; the walking device is mounted at the bottom of the supporting device and used for moving the whole device to the side of the patient; the control system is mounted on the supporting device and comprises an instruction device, a processor device, a first image acquisition device and a three-dimensional point cloud sensor; the instruction device is used for obtaining instruction data and sending the instruction data to the processor device in parallel. By arranging the control system, the posture and the distance of a patient can be automatically recognized, the height and the position can be automatically adjusted, comfortable and rapid wound cleaning can be achieved, the posture of the patient is recognized by fusing point cloud data and image data, in this way, the recognition accuracy can be improved, and accurate control can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and specifically to a wound cleaning and nursing device. Background Art

[0002] With the acceleration of the global population aging process, the proportion of the elderly population aged 60 and above continues to rise. The decline of the physical functions and the decrease of immunity in the elderly lead to a significant increase in the incidence of chronic diseases such as diabetes and cardiovascular diseases. The wounds caused by these chronic diseases are characterized by difficult healing and easy infection. The structure of traditional medical wound cleaning devices is too simple to meet the precise nursing requirements in complex clinical scenarios. With the technological iteration in the biomedical engineering industry, the field of wound cleaning and nursing is undergoing multidisciplinary integration and innovation. Medical devices are also rapidly iterating and upgrading with the trend of multidisciplinary integration. Intelligent and precise wound care devices have become the core direction of clinical needs.

[0003] In actual clinical applications, traditional wound cleaning requires medical staff to manually adjust the height position of the device according to the patient's posture. The adjustment operations of medical staff are often based on experience, resulting in time-consuming operations and insufficient positioning accuracy. This manpower-dependent operation mode not only increases the workload of medical staff, but also is difficult to accurately match the wound position due to the lack of quantifiable recognition and control.

[0004] To solve this technical problem, a wound cleaning and nursing device is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a wound cleaning and nursing device to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution:

[0007] A wound cleaning and nursing device, comprising: a support device, an arm fixing device, a medicine spraying device, a walking device, and a control system;

[0008] The arm fixing device is installed on the support device and is used to fix the injured arm of the patient;

[0009] The medicine spraying device is installed on the support device and is used to clean and spray medicine on the wound;

[0010] The walking device is installed at the bottom of the support device and is used to move the entire device to the patient's side;

[0011] The control system is installed on the support device and includes a command device, a processor device, a first image acquisition device, and a three-dimensional point cloud sensor;

[0012] The instruction device is used to obtain instruction data and send the parallel instruction data to the processor device;

[0013] The processor device is used to control the first image acquisition device and the 3D point cloud sensor to collect data according to the instruction content. The collected data includes image data and point cloud data, and based on the image data and point cloud data, the distance and posture of the patient are identified to obtain identification data. Based on the identification data, the support device is controlled to move to the patient's side through the walking device, and the height and direction of the arm fixing device are automatically adjusted according to the patient's posture. When the patient's arm is placed on the support device, the control system automatically controls the arm fixing device to clamp the patient's arm, and controls the spraying device to automatically spray the wound.

[0014] As a further solution of the present invention: The spraying device includes a mounting rack, a cleaning medicine bottle, a delivery pump and a nozzle. The mounting rack is mounted on the support device. The cleaning medicine bottle is connected to the input end of the delivery pump through a second medicine delivery pipe. The input end of the nozzle is communicated with the output end of the delivery pump.

[0015] As a further solution of the present invention: The spraying device further includes a cleaning medicine box mounted on the mounting rack. The output end of the cleaning medicine box is communicated with the input end of the delivery pump through a first medicine delivery pipe. The output end of the cleaning medicine bottle is connected to one end of the second medicine delivery pipe. The other end of the second medicine delivery pipe is mounted on the interface at the middle position of the first medicine delivery pipe. A first control valve is arranged on the second medicine delivery pipe, and a second control valve is arranged on the first medicine delivery pipe. The second control valve is arranged on the upstream section of the interface at the middle position of the first medicine delivery pipe.

[0016] As a further solution of the present invention: A plurality of cleaning medicine bottles can be mounted on the mounting rack, and each mounting rack is respectively communicated with the first medicine delivery pipe through a second medicine delivery pipe.

[0017] As a further solution of the present invention: The control system further includes a second image acquisition device. The second image acquisition device is mounted on the mounting rack. The second image acquisition device is communicatively connected with the processor device. The second image acquisition device is used to acquire the patient's arm image and transmit the patient's arm image to the processor device. The processor device identifies the position and size of the patient's wound.

[0018] As a further solution of the present invention: A main shaft structure is arranged on the mounting rack, and the nozzle is mounted on the output end of the main shaft structure.

[0019] As a further solution of the present invention: The processor device is further used to identify the patient's identity and spray the corresponding medicine according to the identification.

[0020] To achieve the above object, the present invention provides another technical solution as follows:

[0021] A control method for a wound cleaning and care device, comprising the following steps:

[0022] S10. Obtain real-time image data of the patient through a first image acquisition device;

[0023] S20. Obtain three-dimensional point cloud data of the patient and the surrounding environment through a three-dimensional point cloud sensor;

[0024] S30. Preprocess the image data, including removing background noise, target detection, and key point extraction;

[0025] S40. Preprocess the three-dimensional point cloud data, including point cloud filtering, downsampling, and feature extraction; real-time processing of the image and point cloud data can remove noise and redundant information, improve data quality and processing efficiency, thereby improving the accuracy and response speed of pose recognition.

[0026] S50. Integrate the key point information in the image data with the spatial information in the three-dimensional point cloud data to construct a multi-modal feature vector for characterizing the patient's pose;

[0027] S60. Input the multi-modal feature vector into a pose recognition model, and the pose recognition model adopts a deep learning architecture to recognize the patient's pose;

[0028] S70. According to the pose recognition result, the control system 5 automatically adjusts the height and position direction of the support device of the device to adapt to the patient's pose;

[0029] S80. When the patient's arm is placed on the support device, the control system 5 automatically controls the arm fixing device to clamp and starts the spraying device to spray medicine.

[0030] As a further scheme of the present invention: the pose recognition model is trained through a federated learning architecture, and the model training parameters of multiple client devices are aggregated to update the global model.

[0031] As a further scheme of the present invention: the training data of the pose recognition model is augmented through a data augmentation model, the data augmentation model is provided with a generative adversarial network, and the generative adversarial network is provided with a generator and a discriminator.

[0032] Compared with the prior art, the beneficial effects of the present invention are: by setting a control system, the pose and distance of the patient can be automatically recognized, the height and position can be automatically adjusted, comfortable and fast wound cleaning can be realized, and the patient's pose is recognized by fusing point cloud data and image data, so that the recognition accuracy can be improved, and accurate control can be realized. Brief Description of the Drawings

[0033] Figure 1 This is a schematic structural diagram of a wound cleaning and nursing device according to an embodiment of the present invention.

[0034] Figure 2 is Figure 1 an enlarged view of part A in

[0035] Figure 3 This is a flowchart of a control method for a wound cleaning and nursing device according to an embodiment of the present invention.

[0036] In the figure: 1 - support device, 2 - arm fixing device, 3 - medicine spraying device, 4 - walking device, 5 - control system, 31 - mounting frame, 32 - cleaning medicine box, 33 - cleaning medicine bottle, 34 - delivery pump, 35 - first medicine delivery pipe, 36 - nozzle, 37 - second medicine delivery pipe, 51 - instruction device, 52 - processor device, 53 - first image acquisition device, 54 - three - dimensional point cloud sensor, 55 - second image acquisition device. Detailed Description of the Embodiment

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0038] With the technological iteration of the biomedical engineering industry, the field of wound cleaning and nursing is undergoing multidisciplinary integration and innovation. High - pressure pulsed irrigation equipment is optimized through fluid mechanics and biomechanics principles, and can efficiently remove wound contaminants and necrotic tissue with specific pressure and pulse frequency, reducing damage to normal tissues, which reflects the technical advantage of precise regulation of the functions of medical devices. Medical imaging technologies (such as MRI, CT) combined with CAD / CAM technologies can obtain the three - dimensional structure of the wound and customize exclusive nursing plans. This personalized technical path is not only applicable to dressing customization, but also provides an engineering basis for the adaptability adjustment of wound cleaning devices, promoting the upgrade of the device from standardized operation to individualized precise treatment.

[0039] In addition, the aging of the population and the rising incidence of chronic diseases have given rise to an urgent need for highly efficient wound treatment products. Biomedical engineering continuously develops intelligent devices through interdisciplinary collaboration of materials science, electronic technology, and mechanical engineering. For example, the combination of antibacterial materials and drug delivery systems can achieve precise release of antibacterial components through the cleaning device, inhibiting the risk of infection, meeting the clinical goal of "reducing complications and improving the quality of rehabilitation", and providing a technical orientation and market drive for the research and development of new wound cleaning devices.

[0040] Therefore, in response to the continuous demand for "precision, personalization, and intelligence" treatment devices, embodiments of the present invention provide a wound cleaning and nursing device. By setting up a control system, it can automatically identify the patient's posture and distance, automatically adjust the height and position, and can achieve comfortable and fast wound cleaning. By fusing point cloud data and image data to identify the patient's posture, the accuracy of identification can be improved, and thus accurate control can be achieved.

[0041] To better understand the above technical solutions, the above technical solutions will be described in detail below in conjunction with the accompanying drawings of the specification and specific embodiments.

[0042] Embodiment 1

[0043] Please refer to Figures 1 to 2 , a structural diagram of a wound cleaning and nursing device provided by Embodiment 1 of the present invention, including: a support device 1, an arm fixing device 2, a medicine spraying device 3, a walking device 4, and a control system 5;

[0044] The arm fixing device 2 is installed on the support device 1 and is used to fix the patient's injured arm;

[0045] The medicine spraying device 3 is installed on the support device 1 and is used to clean and spray medicine on the wound;

[0046] The walking device 4 is installed at the bottom of the support device 1 and is used to move the entire device to the patient's side;

[0047] The control system 5 is installed on the support device 1 and includes an instruction device 51, a processor device 52, a first image acquisition device 53, and a three-dimensional point cloud sensor 54; the instruction device 51 is used to obtain instruction data and send the parallel instruction data to the processor device 52. The processor device 52 controls the first image acquisition device 53 and the three-dimensional point cloud sensor 54 to collect data according to the instruction content. The collected data includes image data and point cloud data, and based on the image data and point cloud data, the distance and posture of the patient are identified to obtain identification data. Based on the identification data, the support device 1 is controlled to move to the patient's side through the walking device 4, and the height and direction of the arm fixing device 2 are automatically adjusted according to the patient's posture. When the patient's arm is placed on the support device 1, the control system 5 automatically controls the arm fixing device 2 to clamp the patient's arm and controls the medicine spraying device 3 to automatically spray medicine on the wound.

[0048] The present invention can automatically identify the patient's posture and distance by setting up the control system 5, automatically adjust the height and position, and can achieve comfortable and fast wound cleaning. By fusing point cloud data and image data to identify the patient's posture, the accuracy of identification can be improved, and thus accurate control can be achieved.

[0049] As Figure 1 and 2 shown, in some embodiments, the spraying device 3 includes a mounting frame 31, a cleaning medicine bottle 33, a delivery pump 34 and a nozzle 36. The mounting frame 31 is mounted on the support device 1. The cleaning medicine bottle 33 is connected to the input end of the delivery pump 34 through a second medicine delivery pipe 37. The input end of the nozzle 36 is communicated with the output end of the delivery pump 34. In this way, when the delivery pump 34 is powered on, the medicine water inside the cleaning medicine bottle 33 can be sprayed out through the nozzle 36 to clean the patient's wound, which is more convenient to use.

[0050] In order to facilitate improving the utilization rate of the delivery pump 34 and the nozzle 36, the spraying device 3 further includes a cleaning medicine box 32 mounted on the mounting frame 31. The output end of the cleaning medicine box 32 is communicated with the input end of the delivery pump 34 through a first medicine delivery pipe 35. The output end of the cleaning medicine bottle 33 is connected to one end of the second medicine delivery pipe 37. The other end of the second medicine delivery pipe 37 is mounted on the interface at the middle position of the first medicine delivery pipe 35. A first control valve is provided on the second medicine delivery pipe 37, and a second control valve is provided on the first medicine delivery pipe 35. The second control valve is arranged on the upstream section of the interface at the middle position of the first medicine delivery pipe 35. Specifically, when it is necessary to clean the delivery pump 34 and the nozzle 36, the first control valve on the second medicine delivery pipe 37 controls the second medicine delivery pipe 37 to be cut off, the second control valve is opened, and then the delivery pump 34 works to suck the cleaning water inside the cleaning medicine box 32, and then it is cleaned through the delivery pump 34 and the nozzle 36, so as to improve the use efficiency of the delivery pump 34 and the first medicine delivery pipe 35.

[0051] In some embodiments, the cleaning medicine box 32 and the cleaning medicine bottle 33 can be snap-fitted on the snap-fitting seat on the mounting frame 31.

[0052] In some embodiments, a plurality of cleaning medicine bottles 33 can be mounted on the mounting frame 31, so as to meet the needs of different patients for cleaning different medicine waters and clean different patients. Each mounting frame 31 is respectively communicated with the first medicine delivery pipe 35 through a second medicine delivery pipe 37.

[0053] In some embodiments, the control system 5 further includes a second image acquisition device 55. The second image acquisition device 55 is mounted on the mounting frame 31. The second image acquisition device 55 is communicatively connected to the processor device 52. The second image acquisition device 55 is used to acquire the patient's arm image and transmit the patient's arm image to the processor device 52. The processor device 52 identifies the position and size of the patient's wound, so as to adjust the position of the mounting frame 31 and at the same time control the spraying pressure and range of the delivery pump 34.

[0054] In some embodiments, a main shaft structure is provided on the mounting bracket 31, and the nozzle 36 is installed at the output end of the main shaft structure. The main shaft structure is a prior art, and the spraying position of the nozzle 36 is adjusted by setting the main shaft mechanism. The main shaft structure includes a horizontal movement structure and a vertical and horizontal movement structure to meet the movement requirements of spraying in the plane direction.

[0055] In some embodiments, the arm fixing device 2 includes a fixing clip and a driving mechanism for driving the fixing clip to clamp. The driving mechanism is used to control the fixing clip to clamp the patient and can adjust the clamping tightness according to needs to adapt to the thickness of different patients' arms.

[0056] In some embodiments, the support device 1 includes a height adjustment mechanism and a horizontal adjustment mechanism. The horizontal adjustment mechanism is installed at the output end of the height adjustment mechanism, and the arm fixing device 2 is installed at the output end of the horizontal adjustment mechanism, so as to finely adjust the position of the arm fixing device 2.

[0057] In some embodiments, the traveling device 4 includes wheels and a driving motor, and the driving motor is used to drive the wheels to rotate to realize the movement of the device.

[0058] In some embodiments, the instruction device 51 is a wireless receiver and can receive instruction data sent by medical staff through a mobile terminal.

[0059] In some embodiments, the processor device 52 is further used to identify the patient's identity and spray the corresponding medicine on the patient according to the identification. The processor device 52 can identify the patient's identity through the patient's face data or through the hospital bracelet on the patient's hand. In this way, it is possible to spray medicine on multiple patients at one time, reduce the work intensity of nurses, and make it more convenient to use.

[0060] The present invention further includes an alarm device 6. The alarm device 6 is communicatively connected to the control system 5. When the control system 5 identifies an abnormality, the alarm device 6 issues an alarm to prompt medical staff. When an abnormal patient posture (such as falling) is identified, the alarm can be triggered in time to notify medical staff, enhancing the safety and emergency response ability of the system.

[0061] The working principle of the present invention is:

[0062] The nurse prepares the potion in advance and installs it on 31. The nurse issues a patient cleaning instruction to the device through the instruction device 51. The nurse can input the information of the patient whose wound needs to be cleaned into the device. Then the device automatically walks into the ward, and then identifies the patient's identity. Data is collected through the first image acquisition device 53 and the 3D point cloud sensor 54. The collected data includes image data and point cloud data. Based on the image data and the point cloud data, the distance and posture of the patient are identified to obtain identification data. Based on the identification data, the support device 1 is controlled to move to the patient's side through the walking device 4, and the height and direction of the arm fixing device 2 are automatically adjusted according to the patient's posture. When the patient's arm is placed on the support device 1, the control system 5 automatically controls the arm fixing device 2 to clamp the patient's arm, and controls the medicine spraying device 3 to automatically spray medicine on the wound.

[0063] Embodiment 2

[0064] As Figure 3 shown, Embodiment 2 of the present invention also provides a control method for a wound cleaning and nursing device, including the following steps:

[0065] S10. Obtain the real-time image data of the patient through the first image acquisition device 53;

[0066] S20. Obtain the 3D point cloud data of the patient and the surrounding environment through the 3D point cloud sensor 54;

[0067] S30. Preprocess the image data, including removing background noise, target detection, and key point extraction;

[0068] S40. Preprocess the 3D point cloud data, including point cloud filtering, downsampling, and feature extraction; Real-time processing of the image and point cloud data can remove noise and redundant information, improve data quality and processing efficiency, thereby enhancing the accuracy and response speed of posture recognition.

[0069] S50. Integrate the key point information in the image data with the spatial information in the 3D point cloud data to construct a multi-modal feature vector for characterizing the patient's posture;

[0070] S60. Input the multi-modal feature vector into the posture recognition model, and the posture recognition model adopts a deep learning architecture to recognize the patient's posture;

[0071] S70. According to the posture recognition result, the control system 5 automatically adjusts the height and position direction of the support device 1 of the device to adapt to the patient's posture;

[0072] S80. When the patient's arm is placed on the support device 1, the control system 5 automatically controls the arm fixing device 2 to clamp and starts the medicine spraying device to spray medicine.

[0073] By combining image data and 3D point cloud data, the present invention can make full use of the texture and color information of the image and the spatial position information of the point cloud, make up for the deficiencies of single-modal data, and significantly improve the accuracy and robustness of pose recognition.

[0074] In some embodiments, before S10: obtaining real-time image data of a patient through a first image acquisition device, further includes:

[0075] Obtaining control instruction data.

[0076] In some embodiments, the image acquisition device is a high-definition camera, and the 3D point cloud sensor is a lidar (LiDAR) or a depth camera. The high-definition camera can provide high-resolution image data, and the lidar or depth camera can provide accurate 3D spatial information. The combination of the two can provide more comprehensive patient pose information and improve the recognition accuracy.

[0077] In some embodiments, the pose recognition model is trained through a federated learning architecture, and the model training parameters of multiple client devices are aggregated to update the global model, thereby improving the model accuracy and protecting user data privacy.

[0078] In some embodiments, the patient poses that the pose recognition model can recognize include but are not limited to standing, sitting, lying, and falling. It can recognize various common poses such as standing, sitting, lying, and falling, which is applicable to patients in different states in the medical scenario and improves the applicability and flexibility of the system.

[0079] In some embodiments, the training data of the pose recognition model is augmented through a data augmentation model. The data augmentation model is provided with a generative adversarial network (GAN), and the generative adversarial network is provided with a generator and a discriminator. By generating more diverse training samples through GAN, the training data set can be effectively augmented, and the robustness and generalization ability of the model can be improved.

[0080] In some embodiments, during the training process of the pose recognition model, a cross-entropy loss function is used to optimize the model parameters. The cross-entropy loss function can effectively measure the difference between the model prediction value and the true value. By optimizing the model parameters, the training effect and recognition accuracy of the model can be improved.

[0081] In some embodiments, the control system 5 further includes a communication module, which can communicate with a remote server or other monitoring systems to support remote monitoring and data analysis. Supporting communication with a remote server or other monitoring systems can achieve remote monitoring and data analysis, facilitate medical staff to grasp the patient's status in real time, and improve the efficiency of medical care.

[0082] In some embodiments, the fusion of image data and 3D point cloud data is achieved through a multi-modal feature fusion network, which can adaptively adjust the weights of different modal data to optimize the pose recognition performance. By adaptively adjusting the weights of different modal data, the fusion effect can be optimized, further improving the pose recognition performance and adapting to the data characteristics in different scenarios.

[0083] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0084] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0085] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0086] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0087] In the description of this specification, the descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples.

[0088] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A wound cleaning and nursing device, characterized in that, Comprising: A support device (1), an arm fixing device (2), a medicine spraying device (3), a walking device (4) and a control system (5); The arm fixing device (2), which is installed on the support device (1) and is used for fixing the injured arm of the patient; The medicine spraying device (3), which is installed on the support device (1) and is used for cleaning and spraying medicine on the wound; The walking device (4), which is installed at the bottom of the support device (1) and is used for moving the whole device to the patient's side; The control system (5), which is installed on the support device (1) and includes an instruction device (51), a processor device (52), a first image acquisition device (53) and a three-dimensional point cloud sensor (54); The instruction device (51) is used for acquiring instruction data and sending the parallel instruction data to the processor device (52), The processor device (the 52), which is used for controlling the first image acquisition device (53) and the three-dimensional point cloud sensor (54) to collect data according to the instruction content. The collected data includes image data and point cloud data, and based on the image data and the point cloud data, it identifies the distance and posture of the patient to obtain identification data, and based on the identification data, it controls the support device (1) to move to the patient's side through the walking device (4), and automatically adjusts the height and direction of the arm fixing device (2) according to the patient's posture. When the patient's arm is placed on the support device (1), the control system (5) automatically controls the arm fixing device (2) to clamp the patient's arm and controls the medicine spraying device (3) to automatically spray medicine on the wound.

2. The wound cleaning and nursing device according to claim 1, characterized in that, The medicine spraying device (3) includes a mounting rack (31), a cleaning medicine bottle (33), a delivery pump (34) and a spray head (36). The mounting rack (31) is installed on the support device (1). The cleaning medicine bottle (33) is connected to the input end of the delivery pump (34) through a second medicine delivery pipe (37). The input end of the spray head (36) is communicated with the output end of the delivery pump (34).

3. The wound cleaning and nursing device according to claim 2, characterized in that, The medicine spraying device (3) further includes a cleaning medicine box (32) installed on the mounting rack (31). The output end of the cleaning medicine box (32) is communicated with the input end of the delivery pump (34) through a first medicine delivery pipe (35). The output end of the cleaning medicine bottle (33) is connected to one end of the second medicine delivery pipe (37). The other end of the second medicine delivery pipe (37) is installed at the interface in the middle position of the first medicine delivery pipe (35). A first control valve is arranged on the second medicine delivery pipe (37). A second control valve is arranged on the first medicine delivery pipe (35). The second control valve is arranged on the upstream section of the interface in the middle position of the first medicine delivery pipe (35).

4. The wound cleaning and nursing device according to claim 3, characterized in that, A plurality of cleaning medicine bottles (33) can be installed on the mounting rack (31). Each mounting rack (31) is respectively communicated with the first medicine delivery pipe (35) through a second medicine delivery pipe (37).

5. A wound cleaning and nursing device according to claim 1, characterized in that, The control system (5) further includes a second image acquisition device (55), which is installed on the mounting bracket (31). The second image acquisition device (55) is communicatively connected to the processor device (52). The second image acquisition device (55) is used to acquire an image of the patient's arm and transmit the image of the patient's arm to the processor device (52), and the processor device (52) identifies the position and size of the patient's wound.

6. The wound cleaning and nursing device according to claim 2, characterized in that, A main shaft structure is provided on the mounting bracket (31), and the nozzle (36) is installed at the output end of the main shaft structure.

7. The wound cleaning and nursing device according to claim 6, characterized in that, The processor device (52) is further used to identify the patient's identity and spray the corresponding potion on the patient according to the identification.

8. A control method for a wound cleaning and care device according to any one of claims 1-7, characterized in that, It includes the following steps: S10. Obtain the real-time image data of the patient through the first image acquisition device (53); S20. Obtain the three-dimensional point cloud data of the patient and the surrounding environment through the three-dimensional point cloud sensor (54); S30. Preprocess the image data, including removing background noise, target detection, and key point extraction; S40. Preprocess the three-dimensional point cloud data, including point cloud filtering, downsampling, and feature extraction; Real-time processing of the image and point cloud data can remove noise and redundant information, improve the data quality and processing efficiency, thereby enhancing the accuracy and response speed of pose recognition; S50. Fuse the key point information in the image data with the spatial information in the three-dimensional point cloud data to construct a multi-modal feature vector for characterizing the patient's pose; S60. Input the multi-modal feature vector into a pose recognition model. The pose recognition model adopts a deep learning architecture to recognize the patient's pose; S70. According to the pose recognition result, the control system (5) automatically adjusts the height and position direction of the support device (1) of the device to adapt to the patient's pose; S80. When the patient's arm is placed on the support device (1), the control system (5) automatically controls the arm fixing device (2) to clamp and starts the medicine spraying device to spray medicine.

9. The control method of a wound cleaning and nursing device according to claim 8, characterized in that, The pose recognition model is trained through a federated learning architecture, and the model training parameters of multiple client devices are aggregated to update the global model.

10. The control method of a wound cleaning and nursing device according to claim 9, characterized in that, The training data of the pose recognition model is augmented through a data augmentation model. The data augmentation model is provided with a generative adversarial network, and the generative adversarial network is provided with a generator and a discriminator.

Images