The traditional vascular interventional surgery requires surgeons to operate the guidewires and catheters with X-ray， and surgeons are inevitably exposed to X-ray radiation. However， the current vascular intervention robot system cannot operate the guidewires and catheters on a set of device， which limits its application scope. To realize the manipulation of guidewires and catheters on the same device， a novel master-slave control robot system based on hollow ultrasonic motor is designed. According to the hollow characteristic of the hollow rotary ultrasonic motor， a kind of hollow mechanical structure is designed. The guidewire and catheter can be pierced from the hollow mechanism at the same time. The proportion-integral-derivative （PID） control algorithm is selected and the master-slave tracking accumulative error， lag time， minimum control resolution and other experiments are carried out on the system. The results show the error of the linear and rotary tracking performance is less than 0.4 mm and 0.2°， respectively. The minimum resolution of the linear and rotary tracking performance is also tested within 0.2 ° and 0.4 mm. The lag time is less than 300 ms.