Robotic-Assisted Peripheral Intervention for Peripheral Arterial Disease II

Inclusion Criteria: General Inclusion Criteria * At least 18 years of age; * Symptomatic disease: presence of critical limb ischemia (including tissue loss or rest pain), or lifestyle-limiting claudication requiring intervention in the femoropopliteal arteries; and * The subject has been informed of the nature of the study and agrees to its provisions and has provided written informed consent. Angiographic Inclusion Criteria Femoropopliteal artery lesion(s) with stenosis (\>50%) or occlusion of up to 120 mm in length as determined by imaging (MRA or Angio) prior to index interventional procedure. Exclusion Criteria: General Exclusion Criteria If any of the following criteria are met, the subject cannot be enrolled in this study: * Failure/inability/unwillingness to provide informed consent; * Target vessel has been previously treated with bypass; or * Enrolled in concurrent clinical study. Angiographic Exclusion Criteria • Target vessel: * Shows evidence of previous dissection or perforation, or * Has adjacent acute thrombus; or * Has a pre-existing target artery aneurysm or perforation or dissection of the target artery prior to initiation of the interventional procedure.