Ultrasound (US) imaging system is widely used in robotic systems for precision positioning in clinical applications. The US calibration is critical to minimize the difference of spatial coordinates between instruments, for minimally invasive surgery (MIS) in navigation systems. In this study, we propose a dual robotic arm system that combines US imaging with one arm for path planning and monitoring and accurate positioning with the other arm for instrument placement via the preplanning procedures. A phantom with N-wire and N-wedge was designed for US calibration. The US calibration showed a mean error of 0.76 mm; the mean dual-arm calibration error is 0.31 mm. The positioning error of the system was verified with a mean error of 1.48 mm. In addition, we used two abdominal phantoms with computed tomography scan validation, with an averaged position error of 1.867 ± 0.436 mm and an orientation error of 2.190 ± 0.764°. The proposed system is aimed to perform clinical operations, such as abdominal MIS, with real-time image monitoring of the organ tissues and instrument positions, which meet the requirements for medical application.

To enhance the service quality of property management companies (PMCs), this study focuses on no service quality evaluation but the new service development so that the companies can design new and critical services to meet consumers' needs. Service positioning and design are two primary issues for new service development. Accordingly, a three-dimensional property management service development architecture, which describes service positioning and service context, was schemed previously to be the reference for creating the new service development model for PMCs. In the model, Service Demand Map (SDM) and Service Providing Map (SPM), two graphical service positioning tools, need to generate to delineate the distributions of consumers' service requirements and PMCs' service products respectively. By overlapping analysis of SDM and SPM, the service vacancy of a PMC can be discovered subsequently. According to the PMC's service vacancy, a new service with its context can be designed finally by using axiomatic design methodology and service blueprint philosophy.