Internet of things (IoT) can enable cyber-physical objects to communicate with one another and realize real-time living-needs control such as for vehicles, smart phones, refrigerators, healthcare gadgets and air-conditioners. Of the applications of IoT, collecting and receiving health-related data securely is the most crucial and significant use in the fields of community and hospital healthcare, where any single communication failure or data loss might cause a life damage risk. To address this problem, self-healing mechanism can be used for facilitating secure communications and recovering from the lost data. In this paper, a new key distribution with self-healing for IoT objects of community healthcare is proposed, and the underlying system is composed of two layers. In the top layer, the new scheme implements both deterministic security link and access control which are based on polynomial-based methods. In the bottom layer, we propose a trust-based key distribution scheme with self-healing and a singular value decomposition (SVD) based authentication method. Security and performance analysis show that our protocol can be performed more efficiently in data communication. In addition, results obtained from both security analysis and simulations indicate that our scheme is more suitable for IoT networks.