A catheter or guide wire manipulating device with two-point-clamping for vascular intervention is provided, comprising a thumb component (3), a forefinger component (4), a driving component (1) and a catheter/guide wire support component (2); the thumb component (3) comprises a pair of rollers (9, 10) configured to advance or retreat the catheter/guide wire; the thumb component (3) is configured to drive the catheter/guide wire to rotate clockwise or counterclockwise through a combination motion of the components; the forefinger component (4) is configured to implement the rotation and the advancement of the catheter/guide wire by moving manually away from the thumb component (3), and returning by a pull force of a spring (27) after being released; the driving component (2) is configured to drive the thumb component (3) and the forefinger component (4); the catheter/guide wire support component comprises a Y adapter fixation configured to install a Y adapter and an entry support configured to support and guide the catheter/guide wire into a mechanism.