The invention relates to the technical field of medical equipment, in particular to a catheter / guide rotating mechanism and a propulsion device for a minimally invasive vascular interventional surgeryrobot. The propulsion device includes a rotating mechanism, a clamping mechanism, a fixing mechanism and a moving mechanism. The rotating mechanism includes a rotating motor, an active pulley, a tensioning pulley, a limiting eccentric wheel and five roller pin bearing components. The clamping mechanism includes a clamping rotating shaft, a clamping claw, a clamping claw sleeve and a clamping spring; the fixing mechanism includes a fixing finger guide rail, a fixing finger slide block, a fixing finger sliding base, a motor friction wheel guide base, a spring guide rod, a fixing finger motor, afixing finger eccentric wheel, a movable rubber block and a fixed rubber block; the fixing finger eccentric wheel drives the fixing finger sliding base to move so as to make the movable rubber blockand the fixed rubber block clamped or separated; the moving mechanism drives the rotating mechanism and the clamping mechanism to move close to or far from the fixing mechanism. According to the catheter / wire rotating mechanism and the propulsion device, the clamping body component of the clamping mechanism is convenient to disassemble and disinfect and the clamping claw does not slip.