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Endovascular intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. Accordingly, researches of robotic systems for endovascular surgery assistant have been carried out widely. Robotic system takes advantages of higher precision, can be controlled remotely etc. In this paper a novel robotic catheter manipulation system is presented. The developed system consists of two parts, one is the controller and the other one is the catheter manipulator. The controller is designed to simulate the surgeon's operating procedure, and the catheter manipulator takes the same movement motion with the controller. A internet based communication between the controller and the catheter manipulator has been build. Performance evaluation of the mechanical system was assessed by experiment to quantify the precision of both controller and catheter manipulator.