Abstract: Catheter should be controlled by doctor’s hands during the traditional vascular interventional surgery which had some disadvantages， as the doctor absorbed radiation and operation quality was affected by human factors. To solve the problem， masterslave remote controlled vascular interventional robot assisting doctor was designed. According to the requirements of clinical surgery， the subordinate feed mechanism and master operational device were designed respectively on the basis of the modular concept， the hardware and software were developed to achieve the masterslave mode.The necessary performances were tested， the motion control accuracy of less than 1mm and the masterslave realtime motion of 044ms were confirmed. The results showed that the robot system can solve the problems of traditional surgery， and meet the requirements of vascular interventional surgery on function and performance， which has high value for clinical application.

Key words: vascular intervention, robot, clinical surgery, control accuracy, realtime motion