Hand screw and surgical robot

Abstract

The invention belongs to the field of technical medical instruments, and discloses a hand screw and a surgical robot. The hand screw comprises a locking screw, a screwing handle, a clamping assembly and a limiting assembly, one end of the locking screw is a screwing end with threads, and the other end of the locking screw is a connecting end; the screwing handle is rotationally connected to the connecting end; the clamping assembly is arranged on the screwing handle and can be clamped and fixed with the connecting end; the limiting assembly can push the clamping assembly to abut against the connecting end. When the hand screw is used, a medical worker can screw the locking screw into a specified hole position only by screwing the handle, and after locking, the handle is screwed to drive the clamping assembly to rotate relative to the locking screw to form dislocation, so that very obvious feedback can be given to the medical worker; when the locking screw is screwed, a medical worker can easily judge that the locking screw is screwed, and at the moment, the medical worker continues to screw the locking screw, the torque cannot exceed the safety range, so that the safety of a hole site is effectively ensured, and the stability of fixed connection through the hand screw is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a hand screw and a surgical robot. Background Art

[0002] In the surgical robot-assisted navigation technology performed under the image guidance of CT (Computed Tomography) and CBCT (Cone Beam Computed Tomography), it is necessary to set a positioning device on the patient's body, and the positioning device and the tracking device of the surgical robot are fixedly connected by screws.

[0003] In the prior art, the screws connecting the positioning device and the tracking device are directly tightened by a wrench, and medical staff rely on their sense of touch to determine whether the screws are tightened. In order to ensure that the positioning device and the tracking device can be locked together, medical staff usually use greater force to twist the screws, causing the tightening torque of the screws to exceed the safe range. The connection part is prone to deformation and damage, causing the connection between the positioning device and the tracking device to fail. Summary of the invention

[0004] The purpose of the present invention is to provide a hand-tightened screw and a surgical robot, which solves the problem in the prior art that when the screw is tightened, the torque exceeds the safety range, causing the connection part to be deformed and damaged, resulting in connection failure.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] In a first aspect, the present invention provides a hand screw, comprising:

[0007] A locking screw, one end of which is a screwing end with a thread, and the other end is a connecting end;

[0008] Twist the handle to rotate and connect to the connecting end;

[0009] A clamping assembly, which is arranged on the screwing handle and can be clamped and fixed with the connecting end;

[0010] The limiting component is arranged at the connecting end and can push the clamping component to abut against the connecting end.

[0011] Optionally, the clamping assembly includes:

[0012] The locking ball is arranged on the screwing handle and partially protrudes from the screwing handle. The connecting end has a connecting portion corresponding to the locking ball, and the connecting portion has a locking hole that is engaged with the protruding portion of the locking ball.

[0013] Optionally, the connecting portion is annular, and a plurality of the clamping holes are arranged at circumferential intervals of the connecting portion;

[0014] And / or, the screwing handle has a mounting hole, the clamping ball is mounted in the mounting hole, and the depth of the mounting hole is greater than the radius of the clamping ball;

[0015] And / or, the screwing handle has a connecting cavity, the connecting portion extends into the connecting cavity, and a rotation gap is provided between the connecting portion and a cavity wall of the connecting cavity.

[0016] Optionally, a locking ball is correspondingly arranged in each of the locking holes.

[0017] Optionally, the screwing handle has a limiting cavity, the connecting end partially extends into the limiting cavity, and the limiting assembly is located in the limiting cavity and fixedly connected to the connecting end.

[0018] Optionally, the limiting component includes:

[0019] A limiting cover, fixedly connected to the connecting end;

[0020] An elastic limiting member has one end connected to the limiting cover and the other end abutting against the screwing handle to push the screwing handle to drive the clamping assembly to abut against the connecting end.

[0021] Optionally, the limiting component further includes:

[0022] A rotating pad is arranged in the limiting cavity and abuts against the elastic limiting member.

[0023] Optionally, the hand screw further comprises:

[0024] The mounting portion is passed through the limiting assembly and fixedly connected to the connecting end, and the mounting portion has a screwing hole for cooperating with a screwing tool.

[0025] Optionally, the mounting portion is a mounting screw, and a thread direction of the mounting screw is opposite to a thread direction of the tightening end.

[0026] In a second aspect, the present invention further provides a surgical robot, comprising:

[0027] A hand screw as described in any one of the first aspects;

[0028] Positioning device;

[0029] The tracking device is fixedly connected to the positioning device via the hand screw.

[0030] Beneficial effects of the present invention:

[0031] When the screw is tightened, the locking screw will be able to rotate and the locking screw will be able to rotate smoothly. When the screw is tightened, the locking screw will be able to rotate and the locking screw will be able to rotate smoothly. When the screw is tightened into place and the locking screw is able to rotate smoothly, the locking screw will be able to rotate smoothly and ... The invention can also be used to tighten the screwdriver, thereby ensuring that the locking screw is in a fixed position and that the locking screw is in a fixed position so that the locking screw can be tightened easily.

[0032] The hand screw can achieve the function of safe tightening through a simple structural composition, which makes the overall manufacturing difficulty low and the processing cost low. The clamping component can form a rolling fit with the locking screw to reduce the wear between the two. The elastic structure can realize real-time adjustment of the extrusion force between the two, which can further reduce wear and torque without affecting its normal tightening and loosening functions.

[0033] Secondly, when the surgical robot is in use, it can quickly complete the fixed connection of the positioning device and the tracking device through the hand-tightening screws, and can ensure that the connection does not deform or even damage during the connection, so that the connection reliability between the two is better, thereby enhancing the reliability of the surgical robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic structural diagram of a hand-tightened screw in an embodiment of the present invention;

[0035] Figure 2 is a structural cross-sectional view of a hand screw in an embodiment of the present invention;

[0036] Figure 3Schematic diagram of the exploded structure of the hand screw in the embodiment of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of a screwing handle for a hand screw in an embodiment of the present invention.

[0038] In the figure:

[0039] 1. Locking screw; 11. Tightening end; 12. Connecting end; 13. Main rod; 14. Round rod; 141. Connecting part; 142. Connecting hole;

[0040] 2. Twist handle; 21. Mounting hole; 22. Connecting cavity; 23. Rotation gap; 24. Limit cavity;

[0041] 3. Card connection assembly; 31. Card ball;

[0042] 4. Limiting assembly; 41. Limiting cover; 42. Elastic limiting member; 43. Rotating pad;

[0043] 5. Mounting portion; 51. Screw hole. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0045] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0046] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0047] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0048] The embodiments of the present invention disclose a hand-tightened screw and a surgical robot.

[0049] Reference Figure 1 and Figure 2 The hand screw comprises a locking screw 1, a screwing handle 2, a clamping assembly 3 and a limiting assembly 4. One end of the locking screw 1 is a screwing end 11 with a thread, and the other end is a connecting end 12; the screwing handle 2 is rotatably connected to the connecting end 12; the clamping assembly 3 is arranged on the screwing handle 2 and can be clamped and fixed with the connecting end 12; the limiting assembly 4 is arranged on the connecting end 12 and can push the clamping assembly 3 to abut against the connecting end 12.

[0050] Specifically, the locking screw 1 includes a long main rod 13, the lower end of the main rod 13 is used as a tightening end 11, an annular protrusion is provided on the tightening end 11, and an external thread is provided on the outer surface of the annular protrusion, and the upper end of the main rod 13 is used as a connecting end 12, and a round rod 14 with a larger diameter is provided on the connecting end 12, and the round rod 14 and the main rod 13 can be in an integrated structure. A screwing handle 2 is provided at one end of the round rod 14 away from the main rod 13, and the screwing handle 2 and the round rod 14 can be plugged into each other, and there is a gap between the two so that the two can rotate relative to each other.

[0051] A clamping assembly 3 is provided between the round rod 14 and the screwing handle 2, and the clamping assembly 3 can clamp and fix the round rod 14 and the screwing handle 2 together, and the limiting assembly 4 is fixed to the connecting end 12, and the limiting assembly 4 can form abutment with the screwing handle 2 to push the screwing handle 2 to squeeze the clamping assembly 3, thereby pressing the clamping assembly 3 against the round rod 14, and the limiting assembly 4 can also be partially penetrated through the screwing handle 2 and directly form abutment with the clamping assembly 3 to directly press the clamping assembly 3 against the round rod 14, thereby ensuring that the clamping assembly 3 and the round rod 14 can be clamped, and the clamping force is greater than the torque during the screwing process of the tightening end 11 and less than the safety torque after the screwing is completed.

[0052] The clamping assembly 3 is provided to clamp and fix the screwing handle 2 and the connecting end 12 of the locking screw 1, and then the clamping assembly 3 is pushed to abut against the connecting end 12 by the limiting assembly 4, ensuring that the clamping force between the clamping assembly 3 and the round rod 14 is greater than the torque during the tightening process of the tightening end 11. When the hand screw needs to be installed, it is only necessary to insert the tightening end 11 into the corresponding hole, and by grasping the screwing handle 2 and driving the screwing handle 2 to rotate, the screwing handle 2 can drive the locking screw 1 to rotate through the clamping assembly 3, so that the locking screw The thread 1 is smoothly screwed into the corresponding hole, and when the locking screw 1 is screwed into place and the screwing handle 2 is continued to be rotated, in the circumferential direction of the screwing handle 2, the force applied by the screwing handle 2 to the clamping component 3 will be greater than the clamping force between the clamping component 3 and the connecting end 12, and the upper limit of the clamping force is lower than the safety torque. Therefore, the clamping component 3 cannot drive the screw to rotate, and the screwing handle 2 will drive the clamping component 3 to rotate relative to the connecting end 12 and no longer form a clamping fixation with the connecting end 12. At this time, the locking screw 1 will no longer be subjected to the force of continuous screwing. The locking screw 1 is then tightened and the locking screw 1 is then tightened, so that the locking screw 1 is not loosened and the locking screw 1 is not in the locked position.

[0053] Optionally, after the snap-in assembly 3 is misaligned, the resistance encountered by the screwing handle 2 is only the friction between the snap-in assembly 3 and the connecting end 12, and the medical staff can feel the resistance becoming smaller, and thus can also judge that the locking screw 1 has been screwed into place. However, since the overall size of the hand-tightening screw is small and the resistance change range is low, the resistance change that the medical staff can feel will not be particularly obvious.

[0054] Reference Figure 3 Optionally, the clamping assembly 3 includes a clamping ball 31. The clamping ball 31 is arranged on the screwing handle 2 and partially protrudes from the screwing handle 2. The connecting end 12 has a connecting portion 141 corresponding to the clamping ball 31. The connecting portion 141 has a clamping hole 142 that is clamped with the protruding portion of the clamping ball 31.

[0055] Specifically, a locking ball 31 is provided at the lower end of the screwing handle 2. The locking ball 31 can be fixedly connected to the screwing handle 2 or rotatably connected to the screwing handle 2, and the present invention does not limit this. The lower side of the locking ball 31 extends out of the screwing handle 2, and a connecting portion 141 is convexly provided at the position of the locking ball 31 on the side wall of the round rod 14. The connecting portion 141 and the round rod 14 can be an integrated structure, or can be fixedly connected by welding or bonding. A locking hole 142 is provided on the side of the connecting portion 141 facing the locking ball 31, and the aperture of the locking hole 142 is smaller than the diameter of the locking ball 31 to prevent the locking ball 31 from falling directly from the locking hole 142.

[0056] By providing a locking ball 31 and a locking hole 142 that engages with the locking ball 31, during the screwing process, the locking ball 31 will be locked in the locking hole 142, and the locking screw 1 and the screwing handle 2 can be rotated synchronously by utilizing the direct locking force between the locking ball 31 and the locking hole 142. When rotated to the right position, the screwing handle 2 will push the locking ball 31 to slide out of the locking hole 142, thereby causing the locking ball 31 and the locking screw 1 to move relative to each other. When the screwing handle 2 continues to move, it will not drive the locking screw 1 to rotate synchronously.

[0057] Optionally, the connecting portion 141 is annular, and a plurality of engaging holes 142 are arranged at intervals around the connecting portion 141 .

[0058] Specifically, the connection portion 141 extends around the circumference of the round rod 14 to form a complete ring. A plurality of snap-fit ​​holes 142 are arranged on the top wall of the connection portion 141 . The plurality of snap-fit ​​holes 142 may be arranged at equal angles.

[0059] By providing a plurality of engaging holes 142, when the engaging ball 31 rotates relative to the connecting end 12, the engaging ball 31 will be continuously engaged in the engaging hole 142 and then slide out of the engaging hole 142, and the collision and friction between the engaging ball 31 and the engaging hole 142 can emit a prompt sound to remind the medical staff that the engaging ball 31 has rotated relative to the connecting end 12, thereby facilitating the medical staff to promptly determine that the locking screw 1 has been screwed into place.

[0060] Optionally, a locking ball 31 is correspondingly disposed in each locking hole 142 .

[0061] Specifically, multiple locking balls 31 are arranged at intervals. On the one hand, the locking strength between the screwing handle 2 and the connecting end 12 can be improved, ensuring that the screwing handle 2 can drive the locking screw 1 to be smoothly screwed into the corresponding hole; on the other hand, when the locking ball 31 and the connecting end 12 rotate relative to each other, multiple locking balls 31 can collide or rub with multiple locking holes 142 at the same time, thereby increasing the intensity of the prompt sound emitted, so as to facilitate accurate judgment by medical staff.

[0062] Optionally, the screwing handle 2 has a mounting hole 21 , the locking ball 31 is installed in the mounting hole 21 , and the depth of the mounting hole 21 is greater than the radius of the locking ball 31 .

[0063] Specifically, a mounting hole 21 is provided at the bottom end of the screw handle 2 and at a position corresponding to the clamping ball 31. The mounting hole 21 may be provided through or not. In this embodiment, the depth of the mounting hole 21 is only greater than the radius of the clamping ball 31, and the diameter of the mounting hole 21 is slightly greater than the diameter of the clamping ball 31, so that the clamping ball 31 can roll in the mounting hole 21.

[0064] By providing the mounting hole 21, the locking ball 31 is engaged with the screwing handle 2, and the locking ball 31 can extend out of the mounting hole 21 under the action of its own weight, and the portion extending out of the mounting hole 21 is engaged in the engaging hole 142. When the limit assembly 4 pushes the screwing handle 2, the bottom wall of the mounting hole 21 can push the locking ball 31, so that the locking ball 31 is engaged in the engaging hole 142. When the locking screw 1 is screwed into place, the locking ball 31 can slide out of the engaging hole 142 and roll with the rotation of the screwing handle 2, thereby reducing the friction between the locking ball 31 and the connecting end 12, thereby reducing the resistance of the screwing handle 2 when rotating relative to the locking screw 1, so as to facilitate medical staff to make more accurate and sensitive judgments.

[0065] Reference Figures 2 to 4 Optionally, the screwing handle 2 has a connecting cavity 22 , the connecting portion 141 extends into the connecting cavity 22 , and a rotation gap 23 is provided between the connecting portion 141 and the cavity wall of the connecting cavity 22 .

[0066] Specifically, a groove is provided at the lower end of the screwing handle 2 as the connecting cavity 22, and the connecting portion 141 is inserted into the groove. When the clamping ball 31 is clamped into the clamping hole 142, the bottom wall of the connecting portion 141 is flush with the bottom wall of the screwing handle 2, and the top wall and the side wall of the connecting portion 141 are both spaced a certain distance from the cavity wall of the connecting cavity 22 to form a rotation gap 23. By providing the rotation gap 23, there is no direct contact between the connecting portion 141 and the screwing handle 2, and the two are connected only by the clamping ball 31, so that the resistance is lower when the screwing handle 2 and the locking screw 1 rotate relative to each other.

[0067] Optionally, the screwing handle 2 has a limiting cavity 24 , the connecting end 12 partially extends into the limiting cavity 24 , and the limiting assembly 4 is located in the limiting cavity 24 and fixedly connected to the connecting end 12 .

[0068] Specifically, a limiting cavity 24 is formed in the top wall of the screwing handle 2, the top of the round rod 14 is inserted into the limiting cavity 24, and the round rod 14 is rotatably connected to the screwing handle 2. The limiting component 4 is arranged in the limiting cavity 24 and is fixedly connected to the round rod 14, so that the entire limiting component 4 is embedded in the screwing handle 2 to reduce the space occupied by the limiting component 4 and facilitate medical staff to grasp the screwing handle 2.

[0069] Optionally, the limit assembly 4 includes a limit cover 41 and an elastic limit member 42. The limit cover 41 is fixedly connected to the connection end 12; one end of the elastic limit member 42 is connected to the limit cover 41, and the other end abuts against the screwing handle 2 to push the screwing handle 2 to drive the clamping assembly 3 to abut against the connection end 12.

[0070] Specifically, the limit cover 41 is in the shape of a disk, which is located at the opening of the limit cavity 24, and the outer wall of the limit cover 41 is flush with the top wall of the screw handle 2, and the limit cover 41 is fixedly connected to the round rod 14, and the fixed connection can be achieved by bolt connection, welding, bonding or clamping. An elastic limit member 42 is arranged on the lower side of the limit cover 41, and one end of the elastic limit member 42 away from the limit cover 41 abuts against the bottom wall of the limit cavity 24. The elastic limit member 42 can be a spring or an elastic rod. In the present embodiment, the limit elastic member adopts an annular spring sheet, which is in the shape of an inverted cone, which is sleeved on the outer side of the round rod 14, and the middle part is convex and abuts against the bottom wall of the limit rod, and its edge abuts downward against the bottom wall of the limit cavity 24.

[0071] By fixing the limit cover 41, the elastic limit member 42 is squeezed, so that the elastic limit member 42 is deformed and squeezes the screw handle 2, so that the screw handle 2 can push the clamping component 3 to abut against the connecting end 12, and when the clamping ball 31 of the clamping component 3 is staggered with the clamping hole 142, the clamping ball 31 can push the screw handle 2 to reversely squeeze the elastic limit member 42, so that the clamping ball 31 can slide out of the clamping hole 142 with an aperture.

[0072] In this way, the hand screw can achieve the function of safe tightening through a simple structural composition, so that the overall manufacturing difficulty is low and the processing cost is low. The clamping component 3 can form a rolling fit with the locking screw 1 to reduce the wear between the two. The elastic structure can realize real-time adjustment of the extrusion force between the two, which can further reduce wear and torque without affecting its normal tightening and loosening functions.

[0073] Optionally, the limiting assembly 4 further includes a rotating pad 43 . The rotating pad 43 is disposed in the limiting cavity 24 and abuts against the elastic limiting member 42 .

[0074] Specifically, a rotating pad 43 is placed on the bottom wall of the limiting cavity 24, and the top wall of the rotating pad 43 is fixedly connected to the elastic limiting member 42, so that when the screwing handle 2 rotates, the elastic limiting member 42 is separated from the screwing handle 2 by the rotating pad 43, thereby ensuring that the elastic limiting member 42 will not be worn by the screwing handle 2.

[0075] Optionally, the hand screw further includes a mounting portion 5. The mounting portion 5 is disposed through the limiting assembly 4 and is fixedly connected to the connecting end 12, and the mounting portion 5 has a screwing hole 51 for cooperating with a screwing tool.

[0076] Specifically, the mounting portion 5 is provided on the limit cover 41, and the mounting portion 5 can be fixedly connected to the limit cover 41, or pass through the limit cover 41 and be fixedly connected to the round rod 14. A screw hole 51 can be provided on the end surface of the mounting portion 5, and the screw hole 51 can be adapted to a screwing tool such as a wrench.

[0077] When the hand screw needs to be loosened, the handle 2 can be directly turned to reverse the whole body to loosen the hand screw. By setting the mounting part 5, in special circumstances, when the hand screw needs to be quickly loosened urgently, the screwing tool is inserted into the screwing hole 51, and the mounting part 5 is driven to rotate by the screwing tool. The mounting part 5 drives the limit cover 41 and the round rod 14 to rotate, so as to quickly loosen the locking screw 1 to deal with special circumstances such as corrosion and foreign matter stuck.

[0078] Optionally, the mounting portion 5 is a mounting screw, and the thread direction of the mounting screw is opposite to the thread direction of the tightening end 11 .

[0079] Specifically, the mounting portion 5 uses a mounting screw, which is inserted into the limit cover 41, and a threaded hole is opened on the end surface of the round rod 14. The mounting screw passes through the limit cover 41 and is screwed into the round rod 14 to fix the limit cover 41 on the round rod 14. The thread direction of the mounting screw is opposite to that of the tightening end 11, so when the tightening end 11 is loosened by screwing the mounting screw, the mounting screw will not be loosened, and after the hand screw is removed, the mounting screw can also be loosened to check the condition of the limit assembly 4.

[0080] The surgical robot comprises a positioning device, a tracking device and the above-mentioned hand screw. The tracking device is fixedly connected to the positioning device via the hand screw.

[0081] When the surgical robot is in use, the hand-tightened screws can be used to quickly complete the fixed connection between the positioning device and the tracking device, and during the connection, it can ensure that the connection does not deform or even get damaged, thereby improving the reliability of the connection between the two and thereby enhancing the reliability of the surgical robot.

[0082] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Hand-tightened screw, characterized in that: include: A locking screw (1), wherein one end of the locking screw (1) is a screwing end (11) having a thread, and the other end is a connecting end (12); Twisting the handle (2) to rotate and connect to the connecting end (12); A clamping assembly (3) is arranged on the screwing handle (2) and can be clamped and fixed with the connecting end (12); A limiting component (4) is arranged on the connecting end (12) and is capable of pushing the clamping component (3) to abut against the connecting end (12).

2. The hand screw according to claim 1, characterized in that: The clamping assembly (3) comprises: A locking ball (31) is arranged on the screwing handle (2) and partially protrudes from the screwing handle (2); the connecting end (12) has a connecting portion (141) corresponding to the locking ball (31); and the connecting portion (141) has a locking hole (142) that is locked with the protruding portion of the locking ball (31).

3. The hand screw according to claim 2, characterized in that: The connecting portion (141) is annular, and a plurality of the clamping holes (142) are arranged at circumferential intervals around the connecting portion (141); And / or, the screwing handle (2) has a mounting hole (21), the locking ball (31) is installed in the mounting hole (21), and the depth of the mounting hole (21) is greater than the radius of the locking ball (31); And / or, the screwing handle (2) has a connecting cavity (22), the connecting portion (141) extends into the connecting cavity (22), and a rotation gap (23) is provided between the connecting portion (141) and the cavity wall of the connecting cavity (22).

4. The hand screw according to claim 3, characterized in that: A locking ball (31) is correspondingly arranged in each locking hole (142).

5. The hand screw according to claim 1, characterized in that: The screwing handle (2) has a limiting cavity (24), the connecting end (12) partially extends into the limiting cavity (24), and the limiting component (4) is located in the limiting cavity (24) and is fixedly connected to the connecting end (12).

6. The hand screw according to claim 5, characterized in that: The limiting component (4) comprises: A limiting cover (41) fixedly connected to the connecting end (12); An elastic limiting member (42) has one end connected to the limiting cover (41) and the other end abutting against the screwing handle (2) to push the screwing handle (2) to drive the clamping assembly (3) to abut against the connecting end (12).

7. The hand screw according to claim 6, characterized in that: The limiting component (4) further comprises: A rotating pad (43) is disposed in the limiting cavity (24) and abuts against the elastic limiting member (42).

8. The hand screw according to claim 1, characterized in that: The hand screw also includes: The mounting portion (5) is inserted through the limiting assembly (4) and fixedly connected to the connecting end (12); the mounting portion (5) has a screwing hole (51) for cooperating with a screwing tool.

9. The hand screw according to claim 8, characterized in that: The mounting portion (5) is a mounting screw, and the thread direction of the mounting screw is opposite to the thread direction of the tightening end (11).

10. A surgical robot, characterized in that: The surgical robot comprises: A hand screw as claimed in any one of claims 1 to 9; Positioning device; The tracking device is fixedly connected to the positioning device via the hand screw.

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