Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems - systems that have the camera (eye) mounted to the end-effector (hand) to gain compactness in confined spaces such as in endoscopic surgery. This paper provides a systematic study on the effects of the camera frame misalignment in a teleoperated eye-in-hand robot and proposes a simple correction method in the view display. A simulation is designed to compare the effects of the misalignment under different conditions. Users are asked to move a rigid body from its initial position to the specified target position via teleoperation, with different levels of misalignment simulated. It is found that misalignment between the input motion and the output view is much more difficult to compensate by the operators when it is in the orthogonal direction (~40s) compared with the opposite direction (~20s). An experiment on a real concentric tube robot with an eye-in-hand configuration is also conducted. Users are asked to telemanipulate the robot to complete a pick-and-place task. Results show that with the correction enabled, there is a significant improvement in the operation performance in terms of completion time (mean 40.6%, median 38.6%), trajectory length (mean 34.3%, median 28.1%), difficulty (50.5%), unsteadiness (49.4%), and mental stress (60.9%).

翻译：遥操作系统中相机框架与操作者框架之间的错位现象普遍存在，并通常会降低操作性能。对于眼在手机器人系统——即相机（眼）安装于末端执行器（手）上，以实现内窥镜手术等受限空间中的紧凑性——此类错位的影响尚未得到充分研究。本文系统研究了遥操作眼在手中机器人中相机框架错位的影响，并提出了一种基于视图显示器的简单校正方法。通过仿真设计，比较了不同条件下错位的影响。受试者需通过遥操作将刚体从初始位置移动至指定目标位置，过程中模拟不同等级的错位。研究发现，当输入运动与输出视图之间的错位呈正交方向时（约40秒），操作者补偿难度远大于相反方向（约20秒）。此外，在真实配置眼在手结构的同心管机器人上开展实验，要求受试者遥操作机器人完成拾放任务。结果表明，启用校正后，操作性能在完成时间（均值40.6%，中位数38.6%）、轨迹长度（均值34.3%，中位数28.1%）、操作难度（50.5%）、不稳定性（49.4%）及精神压力（60.9%）上均显著提升。