The robotic-assisted percutaneous coronary intervention is an emerging technology with great potential tosolve the shortcomings of existing treatments. However, thecurrent robotic systems can not manipulate two guidewires or ballons/stents simultaneously for coronary bifurcation lesions.This paper presents VasCure, a novel bio-inspired vascular robotic system, to deliver two guidewires and stents into themain branch and side branch of bifurcation lesions in sequence. The system is designed in master-slave architecture to reduce occupational hazards of radiation exposure and orthopedic injury to interventional surgeons. The slave delivery device has one active roller and two passive rollers to manipulate two interventional devices. The performance of the VasCure was verified by in vitro and in vivo animal experiments. In vitro results showed the robotic system has good accuracy to deliverguidewires and the maximum error is 0.38mm. In an animal experiment, the interventional surgeon delivered two guidewires and balloons to the left circumflex branch and the left anterior descending branch of the pig, which confirmed the feasibility of the vascular robotic system.