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Integrity Detection and Characterization of Malicious Injections in RAVEN II
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Summary
Researchers characterize how detectable malicious injections are on the RAVEN II surgical robot, using a public dataset that pairs platform telemetry with external high-resolution encoder ground truth. They test three injection points across the command and observation paths and three injection patterns with increasing temporal dispersion, detecting at window and session timescales. Detectability depends strongly on how the injected deviation is spread over time: an abrupt step is detected well below the 1 mm clinical tolerance, while the same total deviation spread across a window or session can stay hidden from single-window statistics.