Targeted Attacks on Teleoperated Surgical Robots: Dynamic Model-Based Detection and Mitigation

Alemzadeh, Homa; Chen, Daniel; Xiao, Li; Kesavadas, Thenkurussi; Kalbarczyk, Zbigniew; Iyer, Ravishankar K.

doi:10.1109/dsn.2016.43

Cited by 68 publications

(49 citation statements)

References 12 publications

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“…As teleoperation is still the dominant way to control surgical robots, there are many Raven citations in this topic [8,12,24,26,34,38,39,44,63,64,66,[68][69][70][71][72][73][74][75][76][77][78]. Whilemuch research focuses on the classical teleoperation problems, such as the system architecture, the master controller and the communication problems, etc., we do see some new research problems attracting attention.…”

Section: Teleoperated Robotic Surgeriesmentioning

confidence: 99%

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The Raven Open Surgical Robotic Platforms: A Review and Prospect

2019

APH

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The Raven I and the Raven II surgical robots, as open research platforms, have been serving the robotic surgery research community for ten years. The paper 1) briefly presents the Raven I and the Raven II robots, 2) reviews the recent publications that are built upon the Raven robots, aim to be applied to the Raven robots, or are directly compared with the Raven robots, and 3) uses the Raven robots as a case study to discuss the popular research problems in the research community and the trend of robotic surgery study. Instead of being a thorough literature review, this work only reviews the works formally published in the past three years and uses these recent publications to analyze the research interests, the popular open research problems, and opportunities in the topic of robotic surgery.

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Section: Teleoperated Robotic Surgeriesmentioning

confidence: 99%

“…A very important issue in a surgical robotic system is security from online adversaries. [71,73,74] studied cybersecurity issues specific to telesurgery systems using the Raven system.…”

Section: Teleoperated Robotic Surgeriesmentioning

confidence: 99%

The Raven Open Surgical Robotic Platforms: A Review and Prospect

2019

APH

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“…Furthermore, in order to improve the detection efficiency of the system, only the dynamic model of the first three joints of heavy-duty robots was modelled. This is reasonable for that the first three joints contribute most to the robot's positions, while the other four joints mainly affecting the orientation of the manipulator [23]. The 10 frames of data are sent per second between the simulated attacker and robot controller.…”

Section: Performance Of Detection and Mitigation Mechanismmentioning

confidence: 99%

“…Targeted attacks on heavy-duty robots mainly make use of the vulnerabilities of communication protocol and operating system [23]. Once an attack occurs, it will bring serious security challenges to life and property of the heavy-duty robot system.…”

Section: Targeted Attacksmentioning

confidence: 99%

Improved Deep Belief Networks (IDBN) Dynamic Model-Based Detection and Mitigation for Targeted Attacks on Heavy-Duty Robots

Xie

et al. 2018

Applied Sciences

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Featured Application: The research is mainly used for heavy-duty robots to detect and mitigate target attacks, which come from both the cyber-domain and the physical-domain. Abstract:In recent years, the robots, especially heavy-duty robots, have become the hardest-hit areas for targeted attacks. These attacks come from both the cyber-domain and the physical-domain. In order to improve the security of heavy-duty robots, this paper proposes a detection and mitigation mechanism which based on improved deep belief networks (IDBN) and dynamic model. The detection mechanism consists of two parts: (1) IDBN security checks, which can detect targeted attacks from the cyber-domain; (2) Dynamic model and security detection, used to detect the targeted attacks which can possibly lead to a physical-domain damage. The mitigation mechanism was established on the base of the detection mechanism and could mitigate transient and discontinuous attacks. Moreover, a test platform was established to carry out the performance evaluation test for the proposed mechanism. The results show that, the detection accuracy for the attack of the cyber-domain of IDBN reaches 96.2%, and the detection accuracy for the attack of physical-domain control commands reaches 94%. The performance evaluation test has verified the reliability and high efficiency of the proposed detection and mitigation mechanism for heavy-duty robots.

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“…The number of injury and death events per procedure has stayed relatively constant since 2007, with an average of 83.4 events per 100,000 procedures [ 7 ]. Although, these incidents are often caused by accidental malfunctions or technical problems with the robot and steep learning curves, it has also been shown that surgical robots can be subject to malicious cyber-attacks that impact patient safety and progress of surgery [ 8 , 9 ]. The ability of current robotic surgery technology to automatically mitigate the impact of safety incidents still lags other safety-critical industries, such as commercial aviation.…”

Section: Introductionmentioning

confidence: 99%

Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator

Alemzadeh

Chen

et al. 2017

Journal of Healthcare Engineering

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This work presents a software and hardware framework for a telerobotic surgery safety and motor skill training simulator. The aims are at providing trainees a comprehensive simulator for acquiring essential skills to perform telerobotic surgery. Existing commercial robotic surgery simulators lack features for safety training and optimal motion planning, which are critical factors in ensuring patient safety and efficiency in operation. In this work, we propose a hardware-in-the-loop simulator directly introducing these two features. The proposed simulator is built upon the Raven-II™ open source surgical robot, integrated with a physics engine and a safety hazard injection engine. Also, a Fast Marching Tree-based motion planning algorithm is used to help trainee learn the optimal instrument motion patterns. The main contributions of this work are (1) reproducing safety hazards events, related to da Vinci™ system, reported to the FDA MAUDE database, with a novel haptic feedback strategy to provide feedback to the operator when the underlying dynamics differ from the real robot's states so that the operator will be aware and can mitigate the negative impact of the safety-critical events, and (2) using motion planner to generate semioptimal path in an interactive robotic surgery training environment.

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Targeted Attacks on Teleoperated Surgical Robots: Dynamic Model-Based Detection and Mitigation

Cited by 68 publications

References 12 publications

The Raven Open Surgical Robotic Platforms: A Review and Prospect

The Raven Open Surgical Robotic Platforms: A Review and Prospect

Improved Deep Belief Networks (IDBN) Dynamic Model-Based Detection and Mitigation for Targeted Attacks on Heavy-Duty Robots

Surgeon Training in Telerobotic Surgery via a Hardware-in-the-Loop Simulator

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