8.1 Introduction8.2 Security Objectives for Medical CPS8.2.1 Mutual Authentication8.2.2 Data Freshness8.2.3 Forward Security8.2.4 Data Authenticity8.2.5 Data Integrity8.2.6 Data Confidentiality8.2.7 Unforgeability8.2.8 Scalability8.3 Security Challenges for Medical CPS8.3.1 Resource Constraint (Gupta et al., 2019)8.3.2 Denial of Service Attack (Alguliyev et al., 2018)8.3.3 Impersonation Attack (Xu et al., 2019a,b)8.3.4 Replay Attack (Kompara et al., 2019)8.3.5 Eavesdropping Attack (Shen et al., 2018)8.3.6 Compromised Nodes and Clone Attack (Xu et al., 2019a,b)8.3.7 Anonymous and Unlinkable Sessions (Kompara et al., 2019)8.3.8 Desynchronization/Jamming Attack (Liu & Chung, 2017)8.4 Types of Key Authentication Schemes for Medical CPS8.4.1 Physiological-Based Key Authentication Schemes8.4.2 Cryptographic-Based Authentication Schemes8.4.2.1 Pre-deployed Authentication Schemes8.4.2.2 Asymmetric Authentication Schemes8.4.3 Hybrid Authentication Schemes8.4.4 Channel-Based Authentication Schemes8.5 Conclusion and Future Research DirectionReferences