  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%).
