There is a precise but non-formal argument in Cap Myths Demolished. For formal proofs about Confused Deputies, I'd look in Fred Spiessens thesis or Toby Murray's thesis. Loosely, Cap Myths Demolished says that if the deputy *only* uses ocaps for designation, then it is not vulnerable to a confused deputy attack. But this is such a severe restriction even in an ocap system that many "normal" deputies will not satisfy this restriction. Most "normal" deputy code will nevertheless not be vulnerable to confused deputies, even though you cannot prove it invulnerable by this straightforward argument.
The informal heuristic I use is less severe than "only ocaps for designation" but usually fits well enough: A deputy that does not engage in rights amplification is probably not vulnerable to confused deputy attacks.
Note: I specifically say "(in)vulnerable to confused deputy attack" rather than "can(not) be confused", because the confused deputy attack, despite the name, has nothing to do with confusing the deputy.