Hand-tightened screw and surgical robot

Abstract

The application belongs to the field of 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 threaded end, and the other end 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, medical staff can only rotate the handle to screw the locking screw into a specified hole, and when the handle is screwed, the clamping assembly will rotate relative to the locking screw to form a misalignment, which can provide a very obvious feedback to the medical staff. The medical staff can easily determine that the locking screw has been screwed, and the medical staff will not continue to screw, which will not cause the torque to exceed the safe range, thereby effectively ensuring the safety of the hole and improving the stability of the fixed connection by the hand screw.

Description

TECHNICAL FIELD

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

[0002] In the surgical robot assisted navigation technology under the guidance of CT (Computed Tomography) and CBCT (Cone Beam Computed Tomography) images, a positioning device needs to be arranged on the patient's body, and the positioning device and the tracking device of the surgical robot are fixedly connected through a screw.

[0003] In the prior art, the screw connecting the positioning device and the tracking device is directly locked by a wrench, and medical staff determines whether the screw is locked by relying on their senses. In order to ensure that the positioning device and the tracking device are locked together, the medical staff usually twists with greater force, which causes the locking torque of the screw to exceed the safe range, and the connection part is easily deformed and damaged, resulting in the failure of the connection between the positioning device and the tracking device. SUMMARY

[0004] The purpose of the present application is to provide a hand screw and a surgical robot, which solves the problem that the screw in the prior art is easily deformed and damaged due to the torque exceeding the safe range when locked, resulting in connection failure.

[0005] To achieve this purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a hand screw, which comprises:

[0007] A locking screw, one end of the locking screw is a threaded end for tightening, and the other end is a connecting end;

[0008] A twisting handle is rotationally connected to the connecting end;

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

[0010] A limiting assembly is arranged on the connecting end and can push the clamping assembly to abut against the connecting end.

[0011] Optionally, the clamping assembly comprises:

[0012] A clamping ball is arranged on the twisting handle and partially protrudes from the twisting handle, the connecting end has a connecting part corresponding to the clamping ball, and the connecting part has a clamping hole clamped with the protruding part of the clamping ball.

[0013] Optionally, the connecting part is annular, and a plurality of the clamping holes are arranged in circumferential direction of the connecting part.

[0014] Optionally, the screwing handle has a mounting hole, the clamping ball is mounted in the mounting hole, and a depth of the mounting hole is greater than a radius of the clamping ball.

[0015] Optionally, the screwing handle has a connecting cavity, the connecting part extends into the connecting cavity, and a rotating gap is formed between the connecting part and a cavity wall of the connecting cavity.

[0016] Optionally, one clamping ball is arranged in each clamping hole.

[0017] Optionally, the screwing handle has a limiting cavity, the connecting end part extends into the limiting cavity, and the limiting assembly is arranged in the limiting cavity and fixedly connected with the connecting end part.

[0018] Optionally, the limiting assembly comprises:

[0019] a limiting cover fixedly connected with the connecting end part;

[0020] an elastic limiting member connected with one end of the limiting cover and abutting against the screwing handle to push the screwing handle and drive the clamping assembly to abut against the connecting end part.

[0021] Optionally, the limiting assembly further comprises:

[0022] a rotating base plate arranged in the limiting cavity and abutting against the elastic limiting member.

[0023] Optionally, the screwing handle further comprises:

[0024] a mounting part penetrating through the limiting assembly and fixedly connected with the connecting end part, the mounting part having a screwing hole for cooperating with a screwing tool.

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

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

[0027] the screwing handle as described in any one of the first aspect;

[0028] positioning means;

[0029] tracking means fixedly connected with the screwing handle and the positioning means.

[0030] The application has the following beneficial effects:

[0031] In the first aspect, the connecting end of the locking screw is clamped and fixed by the clamping assembly, and then the clamping assembly is pushed against the connecting end by the limiting assembly, so that the clamping force between the clamping assembly and the round rod is greater than the torque in the tightening process of the tightening end. When the hand screw is needed to be installed, the tightening end is only needed to be inserted into the corresponding hole, the tightening handle is gripped and rotated, the tightening handle can drive the locking screw to rotate through the clamping assembly, so that the locking screw is smoothly screwed into the corresponding hole. When the locking screw is screwed in place and the tightening handle is continuously rotated, the force applied by the tightening handle to the clamping assembly is greater than the clamping force between the clamping assembly and the connecting end, and the upper limit of the clamping force is lower than the safety torque. Therefore, the clamping assembly cannot drive the locking screw to rotate, and the tightening handle drives the clamping assembly to rotate relative to the connecting end and no longer forms a clamping and fixed connection with the connecting end. At this time, the locking screw will not be subjected to continuous screwing force. When the hand screw is used, the medical staff can only rotate the handle to screw the locking screw into the specified hole. When the locking screw is locked, the tightening handle will drive the clamping assembly to rotate relative to the locking screw to form a misalignment, which can provide a very obvious feedback to the medical staff. The medical staff can easily judge that the locking screw has been tightened, and when the feedback is given, the tightening handle will continue to rotate, but the clamping assembly has been misaligned and rotated relative to the connecting end, so that the locking screw only bears a small torque or even no torque. No matter how hard the medical staff rotates, the torque will not exceed the safety range, thereby effectively ensuring the safety of the hole and improving the stability of the fixed connection by the hand screw.

[0032] The hand screw can realize safe tightening function through simple structure, so that the manufacturing difficulty is low and the processing cost is small. The clamping assembly can form a rolling fit with the locking screw to reduce the wear between them. The elastic structure can realize real-time adjustment of the extrusion force between them, which can further reduce the wear and torque without affecting the normal tightening and loosening functions.

[0033] In the second aspect, the surgical robot can quickly complete the fixed connection of the positioning device and the tracking device by using the hand screw, and can ensure that the connection part does not deform or even be damaged during connection, so that the connection reliability of the two is good, and the reliability of the surgical robot is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a structure schematic view of the hand screw in the embodiment of the application;

[0035] Figure 2 is a structure sectional view of the hand screw in the embodiment of the application;

[0036] Figure 3is the schematic diagram of the explosion structure of the hand screw in the embodiment of the present application;

[0037] Figure 4 is the schematic diagram of the screw handle structure of the hand screw in the embodiment of the present application.

[0038] In the figure:

[0039] 1, locking screw; 11, screwing end; 12, connecting end; 13, main rod; 14, round rod; 141, connecting part; 142, clamping hole;

[0040] 2, screw handle; 21, mounting hole; 22, connecting cavity; 23, rotation gap; 24, limiting cavity;

[0041] 3, clamping assembly; 31, clamping ball;

[0042] 4, limiting assembly; 41, limiting cover; 42, elastic limiting piece; 43, rotating pad plate;

[0043] 5, mounting part; 51, screwing hole. DETAILED DESCRIPTION

[0044] The present application will be further described below in conjunction with the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present application, and not to limit the present application. In addition, it should be noted that, for the convenience of description, only the parts related to the present application are shown in the drawings, not all the structures.

[0045] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0046] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "above" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0047] In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like, orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second" are only used to distinguish in description, and have no special meaning.

[0048] The present application discloses a hand screw and a surgical robot.

[0049] With reference to 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 threaded end 11, and the other end is a connecting end 12; the screwing handle 2 is rotationally 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; and 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 comprises an elongated main rod 13, the lower end of the main rod 13 serving as the threaded end 11, an annular protrusion being arranged on the threaded end 11, an external thread being arranged on the outer surface of the annular protrusion, and the upper end of the main rod 13 serving as the connecting end 12, the connecting end 12 having a circular rod 14 with a larger diameter, the circular rod 14 and the main rod 13 can be in an integral structure. The screwing handle 2 is arranged on the end of the circular rod 14 away from the main rod 13, the screwing handle 2 and the circular rod 14 can be inserted into each other, and there is a gap between them, so that they can rotate relative to each other.

[0051] The clamping assembly 3 is arranged between the circular rod 14 and the screwing handle 2, the clamping assembly 3 can clamp and fix the circular rod 14 and the screwing handle 2 together, the limiting assembly 4 is fixed on the connecting end 12, and the limiting assembly 4 can abut against the screwing handle 2 to push the screwing handle 2 to press the clamping assembly 3, so as to abut the clamping assembly 3 against the circular rod 14, and the limiting assembly 4 can also be partially arranged in the screwing handle 2 to directly abut against the clamping assembly 3, so as to directly abut the clamping assembly 3 against the circular rod 14, thereby ensuring that the clamping assembly 3 and the circular rod 14 can form a clamping connection, and the clamping force is greater than the torque in the screwing process of the threaded end 11 and less than the safety torque after the screwing is completed.

[0052] The connection end 12 of the locking screw 1 is clamped and fixed by the clamping assembly 3, and then the clamping assembly 3 is pushed against the connection end 12 by the limiting assembly 4, so that the clamping force between the clamping assembly 3 and the round rod 14 is greater than the torque in the tightening process of the tightening end 11. Therefore, when the hand screw is needed to be installed, only the tightening end 11 needs to be inserted into the corresponding hole position, and then the tightening end 11 is rotated by gripping the rotating handle 2, so that the rotating handle 2 drives the locking screw 1 to rotate through the clamping assembly 3, and the locking screw 1 is smoothly screwed into the corresponding hole position. When the locking screw 1 is screwed in place and the rotating handle 2 is continuously rotated, the force applied by the rotating handle 2 to the clamping assembly 3 is greater than the clamping force between the clamping assembly 3 and the connection end 12, and the upper limit of the clamping force is lower than the safety torque. Therefore, the clamping assembly 3 cannot drive the rotating screw to rotate, and the rotating handle 2 drives the clamping assembly 3 to rotate relative to the connection end 12 and no longer forms a clamping and fixing with the connection end 12. At this time, the locking screw 1 will not be subjected to the force of continuous rotation. Therefore, when the hand screw is used, the medical staff can only screw the locking screw 1 into the specified hole position by rotating the handle 2. When the locking screw 1 is locked, the rotating handle 2 drives the clamping assembly 3 to rotate relative to the locking screw 1 to form a misalignment, which provides a very obvious feedback to the medical staff. The medical staff can easily judge that the locking screw 1 has been tightened, and although the rotating handle 2 continues to rotate, the clamping assembly 3 has been misaligned and rotated relative to the connection end 12, so that the locking screw 1 only bears a small torque or even no torque. No matter how hard the medical staff rotates, the torque will not exceed the safety range, thereby effectively ensuring the safety of the hole position and improving the stability of the connection fixed by the hand screw.

[0053] Optionally, after the clamping assembly 3 is misaligned, the resistance of the rotating handle 2 is only the friction force between the clamping assembly 3 and the connection end 12, so that the medical staff can feel that the resistance is smaller, thereby judging that the locking screw 1 has been screwed in place. However, since the overall size of the hand screw is small, the change range of the resistance is low, and the change of the resistance felt by the medical staff is not particularly obvious.

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

[0055] Specifically, the clamping ball 31 is arranged at the lower end of the screw handle 2, and the clamping ball 31 can be fixedly connected with the screw handle 2 or rotatably connected with the screw handle 2, and the present application does not make any limitation in this regard. The lower side of the clamping ball 31 extends out of the screw handle 2, and the connecting portion 141 is protrudingly arranged on the side wall of the round rod 14 at a position corresponding to the clamping ball 31. The connecting portion 141 can be in an integral structure with the round rod 14, or can be fixedly connected with the round rod 14 by welding or adhesion. The connecting portion 141 is provided with a clamping hole 142 on the side facing the clamping ball 31, and the diameter of the clamping hole 142 is smaller than the diameter of the clamping ball 31, so as to avoid the situation that the clamping ball 31 directly falls out of the clamping hole 142.

[0056] By arranging the clamping ball 31 and the clamping hole 142 matched with the clamping ball 31, during the screwing process, the clamping ball 31 is clamped in the clamping hole 142, and the clamping force between the clamping ball 31 and the clamping hole 142 can make the locking screw 1 and the screw handle 2 rotate synchronously. When the rotation is completed, the screw handle 2 pushes the clamping ball 31 to slide out of the clamping hole 142, so that the clamping ball 31 is relatively displaced from the locking screw 1, and the screw handle 2 will not drive the locking screw 1 to rotate synchronously when it continues to move.

[0057] Optionally, the connecting portion 141 is annular, and a plurality of clamping holes 142 are annularly arranged at intervals on the circumference of the connecting portion 141.

[0058] Specifically, the connecting portion 141 extends around the circumference of the round rod 14 and is annular, and a plurality of clamping holes 142 are annularly arranged on the top wall of the connecting portion 141 at equal angles.

[0059] By arranging a plurality of clamping holes 142, when the clamping ball 31 rotates relative to the connecting end 12, the clamping ball 31 will be clamped in and then slide out of the clamping hole 142 repeatedly, and the collision and friction between the clamping ball 31 and the clamping hole 142 can emit a prompt sound to prompt medical staff that the clamping ball 31 has rotated relative to the connecting end 12 at this time, so as to facilitate the medical staff to judge that the locking screw 1 has been screwed in place in time.

[0060] Optionally, one clamping ball 31 is arranged in each clamping hole 142.

[0061] Specifically, a plurality of clamping balls 31 are annularly arranged at intervals, which can improve the clamping strength between the screw handle 2 and the connecting end 12, and ensure that the screw handle 2 can smoothly drive the locking screw 1 to rotate into the corresponding hole position. When the clamping ball 31 rotates relative to the connecting end 12, a plurality of clamping balls 31 can collide or rub with a plurality of clamping holes 142 at the same time, so as to improve the strength of the prompt sound emitted, thereby facilitating the accurate judgment of medical staff.

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

[0063] Specifically, a mounting hole 21 is formed at the bottom end of the screw handle 2 and corresponds to the position of the clamping ball 31. The mounting hole 21 can be formed 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 hole diameter of the mounting hole 21 is slightly larger than the diameter of the clamping ball 31, so that the clamping ball 31 can roll in the mounting hole 21.

[0064] By forming the mounting hole 21, the clamping ball 31 is clamped with the screw handle 2, and the clamping ball 31 can extend out of the mounting hole 21 under the action of gravity, and the part extending out of the mounting hole 21 is clamped in the clamping hole 142. When the limiting assembly 4 pushes the screw handle 2, the bottom wall of the mounting hole 21 can push the clamping ball 31, so that the clamping ball 31 is clamped in the clamping hole 142. When the locking screw 1 is screwed in place, the clamping ball 31 can slide out of the clamping hole 142 and roll with the rotation of the screw handle 2, thereby reducing the friction between the clamping ball 31 and the connecting end 12, and reducing the resistance when the screw handle 2 rotates relative to the locking screw 1, to facilitate medical staff to make more accurate and sensitive judgments.

[0065] Referring to Figures 2 to 4 Optionally, the screw handle 2 has a connecting cavity 22, and the connecting part 141 extends into the connecting cavity 22 and has a rotation gap 23 between the connecting part 141 and the cavity wall of the connecting cavity 22.

[0066] Specifically, a recess is formed as the connecting cavity 22 at the lower end of the screw handle 2, and the connecting part 141 is inserted into the recess. When the clamping ball 31 is clamped in the clamping hole 142, the bottom wall of the connecting part 141 is flush with the bottom wall of the screw handle 2, and the top wall and the side wall of the connecting part 141 are spaced apart from the cavity wall of the connecting cavity 22 to form the rotation gap 23. By providing the rotation gap 23, the connecting part 141 and the screw handle 2 are not in direct contact, and the two are connected only through the clamping ball 31, so that the resistance is lower when the screw handle 2 and the locking screw 1 rotate relative to each other.

[0067] Optionally, the screw handle 2 has a limiting cavity 24, and 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 with the connecting end 12.

[0068] Specifically, a limiting cavity 24 is concaved in the top wall of the screw handle 2, the top of the round rod 14 is arranged in the limiting cavity 24, and the round rod 14 is rotationally connected with the screw handle 2. The limiting assembly 4 is arranged in the limiting cavity 24 and fixedly connected with the round rod 14, so that the whole limiting assembly 4 is embedded in the screw handle 2, thereby reducing the space occupied by the limiting assembly 4 and facilitating the medical staff to hold the screw handle 2.

[0069] Optionally, the limiting assembly 4 comprises a limiting cover 41 and an elastic limiting piece 42. The limiting cover 41 is fixedly connected with the connecting end 12. One end of the elastic limiting piece 42 is connected with the limiting cover 41, and the other end is abutted against the screw handle 2 to push the screw handle 2 to drive the clamping assembly 3 to abut against the connecting end 12.

[0070] Specifically, the limiting cover 41 is disc-shaped and located at the opening of the limiting cavity 24. The outer side wall of the limiting cover 41 is flush with the top wall of the screw handle 2. The limiting cover 41 is fixedly connected with the round rod 14, and the fixed connection can be achieved by bolt connection, welding, bonding or clamping. The elastic limiting piece 42 is arranged on the lower side of the limiting cover 41, and the end of the elastic limiting piece 42 away from the limiting cover 41 is abutted against the bottom wall of the limiting cavity 24. The elastic limiting piece 42 can be a spring or an elastic rod. In this embodiment, the elastic limiting piece is an annular elastic piece which is inverted conical, is sleeved on the outer side of the round rod 14, has a middle part protruding and abutting against the bottom wall of the limiting rod, and has an edge abutting against the bottom wall of the limiting cavity 24.

[0071] By fixedly arranging the limiting cover 41, the elastic limiting piece 42 is extruded to deform and extrude the screw handle 2, so that the screw handle 2 can push the clamping assembly 3 to abut against the connecting end 12. When the clamping ball 31 of the clamping assembly 3 is misaligned with the clamping hole 142, the clamping ball 31 can push the screw handle 2 to reversely extrude the elastic limiting piece 42, so that the clamping ball 31 can slide out of the clamping hole 142 through the hole diameter.

[0072] The screw can realize the function of safe screwing by a simple structure, so that the manufacturing difficulty is low and the processing cost is small. The clamping assembly 3 can be rollingly matched with the locking screw 1 to reduce the wear between them. The elastic structure can realize real-time adjustment of the extrusion force between them, which can further reduce the wear and torque and will not affect the normal screwing and loosening functions.

[0073] Optionally, the limiting assembly 4 further comprises a rotating pad plate 43. The rotating pad plate 43 is arranged in the limiting cavity 24 and abutted against the elastic limiting piece 42.

[0074] Specifically, the rotating base plate 43 is placed on the bottom wall of the limiting cavity 24, and the top wall of the rotating base plate 43 is fixedly connected with the elastic limiting piece 42, so that when the screwing handle 2 rotates, the elastic limiting piece 42 is separated from the screwing handle 2 through the rotating base plate 43, thereby ensuring that the elastic limiting piece 42 is not abraded by the screwing handle 2.

[0075] Optionally, the hand screw further comprises a mounting portion 5. The mounting portion 5 is provided in the limiting assembly 4 and is fixedly connected with 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 arranged on the limiting cover 41, and can be fixedly connected with the limiting cover 41 or can pass through the limiting cover 41 and be fixedly connected with the round rod 14. The end surface of the mounting portion 5 can be provided with the screwing hole 51, which can be matched with a wrench or other screwing tool.

[0077] When it is necessary to loosen the hand screw, the whole can be directly reversed by the screwing handle 2, so that the hand screw can be loosened. By arranging the mounting portion 5, in special cases, the hand screw needs to be quickly loosened in an emergency, the screwing tool is inserted into the screwing hole 51, the mounting portion 5 is rotated by the screwing tool, the limiting cover 41 and the round rod 14 are rotated by the mounting portion 5, so as to quickly loosen the locking screw 1, so as to deal with special situations such as corrosion and foreign matter jamming.

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

[0079] Specifically, the mounting portion 5 is a mounting screw, which is provided in the limiting cover 41, and a threaded hole is formed in the end surface of the round rod 14. After the mounting screw passes through the limiting cover 41, it is screwed into the round rod 14, so as to fix the limiting cover 41 on the round rod 14. The thread direction of the mounting screw is opposite to that of the screwing end 11, so that when the screwing end 11 is loosened by screwing the mounting screw, the mounting screw will not be loosened, and after the hand screw is disassembled, the mounting screw can also be loosened to check the condition of the limiting assembly 4.

[0080] The surgical robot comprises a positioning device, a tracking device and the hand screw described above. The tracking device is fixedly connected with the positioning device through the hand screw.

[0081] In use, the surgical robot can quickly complete the fixed connection of the positioning device and the tracking device through the hand screw, and can ensure that the connection part does not deform or even be damaged, so that the connection reliability of the two is good, and the reliability of the surgical robot is enhanced.

[0082] Obviously, the above embodiments of the present application are merely exemplary but not intended to limit the embodiments of the present application. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the scope of the present application. It is not necessary or possible to enumerate all the embodiments. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A hand screw, characterized in that The utility model relates to a hand screw, and more particularly to a hand screw and a surgical robot. The hand screw comprises: a locking screw (1), one end of the locking screw (1) being a threaded end (11) and the other end being a connecting end (12); a screwing handle (2) rotatably connected to the connecting end (12); a clamping assembly (3) arranged on the screwing handle (2) and capable of being clamped and fixed with the connecting end (12); a limiting assembly (4) arranged on the connecting end (12) and capable of pushing the clamping assembly (3) to abut against the connecting end (12); a mounting portion (5) penetrating through the limiting assembly (4) and fixedly connected with the connecting end (12), the mounting portion (5) having a screw hole (51) for cooperating with a screwing tool; the clamping assembly (3) comprises:

2. The hand screw according to claim 1, wherein a clamping ball (31) arranged on the screwing handle (2) and partially protruding from the screwing handle (2), the connecting end (12) having a connecting portion (141) corresponding to the clamping ball (31), the connecting portion (141) having a clamping hole (142) clamped with the protruding part of the clamping ball (31). The connecting portion (141) is annular, and a plurality of clamping holes (142) are annularly arranged on the connecting portion (141) at intervals in the circumferential direction; and / or, the screwing handle (2) has a mounting hole (21), the clamping ball (31) is arranged in the mounting hole (21), and the depth of the mounting hole (21) is greater than the radius of the clamping ball (31); 3. The hand screw according to claim 2, wherein, and / or, the screwing handle (2) has a connecting cavity (22), the connecting portion (141) extends into the connecting cavity (22), and the connecting portion (141) and the cavity wall of the connecting cavity (22) have a rotation gap (23) therebetween.

4. The hand screw of claim 1 wherein, One clamping ball (31) is arranged in each clamping hole (142).

5. The hand screw of claim 4 wherein, 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 with the connecting end (12). The limiting assembly (4) comprises: a limiting cover (41) fixedly connected with the connecting end (12); 6. The hand screw of claim 5 wherein, an elastic limiting member (42) having one end connected with 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). The limiting assembly (4) further comprises:

7. The hand screw of claim 1 wherein, a rotating backing plate (43) arranged in the limiting cavity (24) and abutting against the elastic limiting member (42).

8. A surgical robot, characterised in that, The mounting portion (5) is a mounting screw, and the thread direction of the mounting screw is opposite to that of the threaded end (11). The surgical robot comprises: the hand screw according to any one of claims 1 to 7; positioning means; tracking means fixedly connected with the hand screw and the positioning means.

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