A catheter delivery device comprising: a body including a delivery path of a catheter; a pair of feed units (31a, 31b) having grippers (33a, 33b) located on the delivery path of the body and configured to grip and release the catheter, wherein the pair of feed units (31a, 31b) are configured to mutually and organically move in among a grip position where the grippers (33a, 33b) grip the catheter, a forward position where the grippers (33a, 33b) advance in a state of gripping the catheter, a grip release position where the grippers (33a, 33b) release the catheter, and a backward position where the grippers (33a, 33b) retract in a state of releasing a grip on the catheter; and a rotation unit configured to rotate the catheter gripped by the feed units (31a, 31b), characterized in that the feed units (31a, 31b) include: the grippers (33a, 33b) paired with each other and disposed on opposite sides of the catheter to face each other; a pair of gripper links pivotally coupled to the pair of grippers (33a, 33b); a pair of first links pivotally coupled to the pair of gripper links; a pair of second links pivotally coupled to the pair of first links; a first movable block (51a, 51b) to which the pair of gripper links (35a, 35b) and the pair of first links (37a, 37b) are pivotally coupled; a second movable block (41a, 41b) to which the pair of second links (39a, 39b) are pivotally coupled; a pair of threaded shafts (53a, 53b) threaded into the first movable block and the second movable block to perform screw motion, and configured to rectilinearly reciprocate the first movable block (51a, 51b) and the second movable block (41a, 41b) along the delivery path; and a pair of threaded shaft drive motors (55a, 55b) configured to rotate the pair of threaded shafts (53a, 53b) in clockwise direction or counterclockwise direction. a body including a delivery path of a catheter; a pair of feed units (31a, 31b) having grippers (33a, 33b) located on the delivery path of the body and configured to grip and release the catheter, wherein the pair of feed units (31a, 31b) are configured to mutually and organically move in among a grip position where the grippers (33a, 33b) grip the catheter, a forward position where the grippers (33a, 33b) advance in a state of gripping the catheter, a grip release position where the grippers (33a, 33b) release the catheter, and a backward position where the grippers (33a, 33b) retract in a state of releasing a grip on the catheter; and a rotation unit configured to rotate the catheter gripped by the feed units (31a, 31b), characterized in that the feed units (31a, 31b) include: the grippers (33a, 33b) paired with each other and disposed on opposite sides of the catheter to face each other; a pair of gripper links pivotally coupled to the pair of grippers (33a, 33b); a pair of first links pivotally coupled to the pair of gripper links; a pair of second links pivotally coupled to the pair of first links; a first movable block (51a, 51b) to which the pair of gripper links (35a, 35b) and the pair of first links (37a, 37b) are pivotally coupled; a second movable block (41a, 41b) to which the pair of second links (39a, 39b) are pivotally coupled; a pair of threaded shafts (53a, 53b) threaded into the first movable block and the second movable block to perform screw motion, and configured to rectilinearly reciprocate the first movable block (51a, 51b) and the second movable block (41a, 41b) along the delivery path; and a pair of threaded shaft drive motors (55a, 55b) configured to rotate the pair of threaded shafts (53a, 53b) in clockwise direction or counterclockwise direction. the grippers (33a, 33b) paired with each other and disposed on opposite sides of the catheter to face each other; a pair of gripper links pivotally coupled to the pair of grippers (33a, 33b); a pair of first links pivotally coupled to the pair of gripper links; a pair of second links pivotally coupled to the pair of first links; a first movable block (51a, 51b) to which the pair of gripper links (35a, 35b) and the pair of first links (37a, 37b) are pivotally coupled; a second movable block (41a, 41b) to which the pair of second links (39a, 39b) are pivotally coupled; a pair of threaded shafts (53a, 53b) threaded into the first movable block and the second movable block to perform screw motion, and configured to rectilinearly reciprocate the first movable block (51a, 51b) and the second movable block (41a, 41b) along the delivery path; and a pair of threaded shaft drive motors (55a, 55b) configured to rotate the pair of threaded shafts (53a, 53b) in clockwise direction or counterclockwise direction.