Robotic-Assisted Peripheral Intervention for Peripheral Arterial Disease

Inclusion Criteria: * General Inclusion 1. At least 18 years of age; 2. Symptomatic disease: presence of critical limb ischemia (including tissue loss or rest pain), or lifestyle-limiting claudication requiring intervention in iliac and/or superficial femoral arteries; 3. The subject or the legally authorized representative has been informed of the nature of the study and agrees to its provisions and has provided written informed consent. * Angiographic Inclusion Presence of superficial femoral artery and/or iliac stenosis (\>50%) or occlusion of up to 50 mm in length as determined by angiogram prior to index interventional procedure. Exclusion Criteria: * General Exclusion 1. Failure/inability/unwillingness to provide informed consent; 2. Target vessel has been previously treated with bypass; 3. Has an abdominal aortic aneurysm contiguous with the iliac artery target lesion; 4. Has contraindication to anticoagulation; 5. Has bleeding or a hypercoagulability disorder; 6. Thrombocytopenia; 7. Elevated international normalized ratio (\>1.5); 8. Elevated serum creatinine (≥2.5 mg/dL); 9. Active infection; 10. Contraindication to contrast; or 11. Enrolled in concurrent clinical study. * Angiographic Exclusion 1. Target vessel: 1. shows evidence of previous dissection or perforation, or 2. has adjacent acute thrombus; 2. Lesion is highly calcified; 3. Lesion requires use of any atherectomy device during the procedure; 4. Has a pre-existing target artery aneurysm or perforation or dissection of the target artery prior to initiation of the interventional procedure.