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Hi. My name is***** Can you take a picture and post it here for me to view what you're seeing? Is George having any diarrhea or weight loss?
Good job on the photo! That creature (centipede) didn't come from any part of George as far as a parasitic host that is. That shouldn't be in his ears, living on his skin or residing in his intestinal tract. It may have came in as a carrier on the fur and then dropped off. It again isn't one that lives on a dog and shouldn't be an issue. The rash on his belly wouldn't be due to the centipede. The rash could easily be due to allergies or that area being a little more moist and irritated and that setting it off. Keeping that area clean and dry can help with mild rashes. Others may need a course of antibiotics to clear it up.
Mange can look like a lot of things, but it doesn't seem to be classic presentation for it. The best thing I can recommend is a quick visit to your vet and they can do a skin scrape to see if it is mange. It could be ring worm, fleas, allergies, or allergic dermatitis.
I'm glad to help and am hoping for the best for him! Give him a belly rub for me!