Objective To study numerical model for calculating the insertion torque of bone screw. Methods The three stages of screw insertion process for the self-tapping screw were analyzed, so as to make mechanical modeling and simulation calculation on torque and torque angle at screw forming stage. Meanwhile, the insertion experiments of screws with specification of φ2.9×12 from three manufactures on polyurethane test blocks with different grades were performed according to ASTM F543-17(YY/T 1506-2016), and the experimental results were compared with the calculated ones. Results The deviations between the predicted insertion torque by the model and the measured torque in the experiments were 5 mN·m and 12 mN·m within the acceptable error range, which were 10% smaller than the average measured torque in the experiments. Conclusions The developed mechanical calculation model can be used to simulate and predict the insertion torque of medical bone screws in research and development or clinical use, and its combination with in vitro mechanical experiments provides an effective way of developing and designing bone screws.