Aimed at such problems in manual invasive surgery as low accuracy of catheterization, X-ray radiation which impaired body of doctors, the drawbacks can be very well solved by using a master-slave robotic catheter system to perform minimally invasive surgery. Generally, proportion integration and differential (PID) control was adopted in a master-slave robotic catheter system, but PID control might produce a larger overshoot which caused deterioration of tracking performance of system，and decreased safety of operation. So, adaptive fuzzy PID controller which adjusted on line parameters of PID control was used to improve tracking performance of master-slave control system. Firstly，the dynamic models of axial motion and rotation motion of slave side were established, then master-slave robotic catheter system was designed based on adaptive fuzzy PID controller. Tracking performance of slave side for master side signals was improved by adjusting the parameters online. The simulation results show that proposed adaptive fuzzy PID control scheme is effective and feasible, and system has quite strong tracking and robust performance， and tracking error of the system is decreased significantly.