A catheter advancing controlling method and a catheter advancing device for a vessel interventional surgery robot, wherein the catheter advancing controlling method comprises a force measuring step and an adjusting and controlling step. The adjusting and controlling step comprises providing a controller for adjusting and controlling motion parameters of a catheter (2) during the advancement thereof, to prevent the catheter (2) from puncturing a vessel during the advancement thereof. The force measuring step comprises: providing, on a friction block component (1) for clamping and twisting the catheter (2) to rotate, a pressure sensor (51) for measuring the force of pressure exerted by the friction block component (1) on the catheter (2)； and providing, on a supporting base (6), a torque sensor (52) that allows the catheter (2) to pass therethrough and is for measuring the torque on the catheter (2). This indirect measuring method can measure, at the same time, the resistance at the tip of the catheter (2) and the torque on the catheter (2), so as to achieve the goal of effective displacement control of the catheter (2). The indirect measuring method enables remote control by a doctor, significantly reducing surgical risks to medical staff and a patient.L'invention concerne un procédé de commande d'avancement de cathéter et un dispositif d'avancement de cathéter pour un robot d'intervention chirurgicale sur un vaisseau, le procédé de commande d'avancement de cathéter comprenant une étape de mesure de force et une étape de réglage et de commande. L'étape de réglage et de commande comprend la fourniture d'un dispositif de commande pour ajuster et commander des paramètres de mouvement d'un cathéter (2) pendant son avancement, afin d'empêcher le cathéter (2) de percer un vaisseau pendant son avancement. L'étape de mesure de force consiste à : fournir, sur un composant de bloc de frottement (1) pour serrer et tordre le cathéter (2) pour tourner, un capteur de pression (51)
