Internet of Things (IoT) technology has attracted much attention in recent years for its potential to alleviate the strain on healthcare systems caused by an aging population and a rise in chronic illness. Standardization is a key issue limiting progress in this area, and thus this paper proposes a standard model for application in future IoT healthcare systems. This survey paper then presents the state-of-the-art research relating to each area of the model, evaluating their strengths, weaknesses, and overall suitability for a wearable IoT healthcare system. Challenges that healthcare IoT faces including security, privacy, wearability, and low-power operation are presented, and recommendations are made for future research directions.