Vascular interventional surgery has become the most effective way to treat cardiovascular and cerebrovascular diseases at present. Vascular interventional surgery has high operational risk and technical skills. Higher skillfulness and longer training period to doctors have become the main reasons that restrict their development. Using robotic technology to assist doctors in surgery has become a hot research topic and an urgent need at present. Aiming at the operation characteristics of vascular interventional surgery,a kind of vascular interventional surgery robot was presented based on bionic finger.The robot used the sliding table of lead screw to realize the forward and backward delivery of guide wire and catheter, and the mechanism based on bionic finger was used to design and realize the twisting of guide wire and catheter. The threedimensional structure model of the robot was established,the kinematics calculation and analyses of the twisting mechanism were completed, its kinematics equation was established,and the expressions of the speed and acceleration of the twisting motion were given.The robot kinematics simulation was made by using ADAMS software,the motion curve of the twist spinning actuator end was given and the correctness of the theoretical calculation was verified.Its proves the feasibility of the designed vascular interventional robot.