Robotic end effector for decompression of tension pneumothorax

This work aims to develop and evaluate a robotic end effector capable of performing needle decompression for tension pneumothorax, enabling life-saving intervention in the absence of on-site medical personnel.

A compact modular system was designed featuring a single-actuator control for relative needle-catheter motion, automated sterile pickup, positioning via ultrasound and a quick-switch interface for tool exchange. Experimental validation focused on mechanical performance through critical load, friction, and needle-handling tests using ex vivo porcine thoracic tissue with a simulated pleural pressure model.

The end effector, including its needle-actuating gripper, was capable of delivering the estimated 30 N insertion force required for thoracic decompression. The gripper design further demonstrated structural robustness, withstanding peak axial loads exceeding 290 N. In realistic needle-handling experiments, 10 out of 11 valid attempts (90.9%) successfully achieved complete insertion, simulated decompression, and correct needle retraction, with the catheter remaining in place throughout the procedure.

This paper proposes the first end effector design capable of performing robotic needle decompression for tension pneumothorax, enabling emergency intervention without on-site medical personnel. The proposed design demonstrates reproducible performance and procedural feasibility for robotic tension pneumothorax decompression.