BACKGROUND: 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. METHODS: 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. RESULTS: 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. CONCLUSION: 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.
Müller et al. (Tue,) studied this question.