The invention belongs to the field of medical rehabilitation equipment, and particularly relates to a robot operating device for a minimally invasive vascular intervention operation. The device comprises a base, a force sense control mechanism and a position control mechanism. The force sense control mechanism comprises a first support, a motor, a torque sensor, a first belt wheel, a first position encoder, a linear guide rail, an operating rod support, an operating rod, a second position encoder, a touch switch, a second support, a second belt wheel and a first belt. The position control mechanism comprises a first support frame, a rotating rod, an operating hand wheel assembly, a second belt, a third belt wheel, a second support frame, a fourth belt wheel, a third position encoder, a third belt, a magnetic powder brake, a fifth belt wheel and a fourth position encoder. The device can simulate an operation action of a doctor on a microcatheter / guide wire during an operation accordingto the doctor's operation requirements during the operation, and can switch between a force control mode and a position control mode according to actual situation during the operation, so that the force sense of presence is more real.