The development of manufacturing, communication, and computing technologies has promoted convergence of different network architectures, aiming to make full use of all resources to create valuable information. While heterogeneous integrated networks play a key role in providing highly effective and efficient solutions for medical users, they also raise various security and privacy issues. Strengthen the security and privacy protection and efficiency before transmitting sensitive data is a primary challenge to be addressed. Traditional authentication methods fail to differentiate the privacy sensitivity difference between data collected by distinct devices. We propose a secure and efficient key management scheme based on a key-exposure resistant chameleon hash function. Through adopting the devices' privacy sensitivity and users' attribute credential as two factors to establish trust between different entities, we proposed a secure and anonymous authentication protocol. The security analyses indicate that the proposed protocol can satisfy security requirements.