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Teleoperated robots are playing an increasingly important role in militaryactions and medical services. In the future, remotely operated surgical robotswill likely be used in more scenarios such as battlefields and emergencyresponse. But rapidly growing applications of teleoperated surgery raise thequestion; what if the computer systems for these robots are attacked, takenover and even turned into weapons? Our work seeks to answer this question bysystematically analyzing possible cyber security attacks against Raven II, anadvanced teleoperated robotic surgery system. We identify a slew of possiblecyber security threats, and experimentally evaluate their scopes and impacts.We demonstrate the ability to maliciously control a wide range of robotsfunctions, and even to completely ignore or override command inputs from thesurgeon. We further find that it is possible to abuse the robot's existingemergency stop (E-stop) mechanism to execute efficient (single packet) attacks.We then consider steps to mitigate these identified attacks, and experimentallyevaluate the feasibility of applying the existing security solutions againstthese threats. The broader goal of our paper, however, is to raise awarenessand increase understanding of these emerging threats. We anticipate that themajority of attacks against telerobotic surgery will also be relevant to otherteleoperated robotic and co-robotic systems.

To Make a Robot Secure: An Experimental Analysis of Cyber Security Threats Against Teleoperated Surgical Robots