Herman and
Fiona are tired and battered, but unhurt, the centipede bite was stopped by
Herman's armour.
Arthur has two puncture wounds in his arm, they are not serious, aside from the venom, and he probably should get an antibiotic when you get home, but, with the medicine, sensation is returning enough that he can use his arm again, even if it will be a bit sluggish for a while.
It is unlikely the centipedes have a habit of luring people to their nest, this might be a one-off event given the unexpected arrival of goblins and your party. Aside from centipede... er... residue and leavings, there might not be anything other than what the naked goblins brought with them. This does not seem like an ideal place to Scrounge [
rules], but if you take the time, you might find something to make it worth your while.
What do you do?