AVIAR(MX-02) Robotic-assisted Percutaneous Coronary Intervention

Inclusion Criteria: * General Inclusion Criteria: 1\. Adult women and men who are aged ≥19 and \<75 years 2. Those who are suspected of stable angina and need percutaneous coronary intervention 3. Those who voluntarily decided to participate in this clinical trial and agreed in writing to the informed consent form 4. Those who are willing to comply with the protocol * Angiographic Inclusion Criteria: 1. If the lesion to be treated by coronary angiography (target lesion) is a native coronary artery lesion that has not been previously treated 2. If the diameter of the lesioned vessel to be treated by coronary angiography (target vessel) is between 2.5 mm and 4.5 mm (by visual estimate). 3. If diameter stenosis of the target vessel ≥50% (by visual estimate) Exclusion Criteria: * General Exclusion Criteria: 1. Those with a left ventricular ejection fraction (LVEF) ≤ 30% 2. Those who have a history of hypersensitivity to contrast agents such as stainless steel, cobalt-chromium, etc. 3. Those who cannot stop taking antithrombotic drugs (anticoagulants, antiplatelet drugs) 4. Those diagnosed with thrombocytopenia, thrombocytosis, neutropenia, or leukopenia 5. Those who have a history of bleeding diathesis or coagulopathy or who refuse transfusion 6. Those with a history of stroke (CVA) or transient ischemic attack (TIA) within 4 weeks from the screening date 7. .Those with a history of active peptic ulcer or upper gastrointestinal bleeding within 24 weeks from the screening date 8. Those with ST-elevation myocardial infarction (STEMI) (for example, those who started myocardial infarction symptoms within 72 hours from the screening date) 9. Those with a history of cardiogenic shock or cardiac arrest 10. Those who underwent coronary artery bypass grafting (CABG) 11. Those who underwent percutaneous coronary intervention (PCI) within 72 hours from the screening date 12. Those who had a major adverse coronary event (MACE) or a serious adverse event (SAE) after receiving the percutaneous coronary intervention (PCI) within 4 weeks from the screening date 13. Those who are scheduled to undergo percutaneous coronary intervention (PCI) or coronary artery bypass grafting (CABG) within 4 weeks from the end of this clinical trial 14. Those diagnosed with renal failure or those who are not suitable for angiography due to severe renal dysfunction (creatine \> 2.0 mg/dL or eGFR (estimated glomerular filtration rate) \< 30 ml/min) within one week prior to the date of coronary angiography 15. Pregnant and breastfeeding women 16. Women of childbearing potential who plan to become pregnant during this clinical trial 17. A woman\* or spouse who is likely to be pregnant does not agree to use contraception in a medically acceptable method of contraception\*\* during the clinical trial \* Pregnant women who have experienced first trimester (who have undergone surgical infertility (either uterine extraction or bilateral ovarian resection) or who have been defined as menopause for more than 12 months without any other reason are not women of childbearing age) * Hormonal contraception, vasectomy, intrauterine device (IUD) or IUS \[intrauterine system\], tubular ligation, double blocking (complex use of blocking methods such as condoms for men, condoms for women, cervical caps, contraceptive diaphragm, contraceptive sponge), and sanitizers a one-off method 18. Those who are currently participating in other clinical trials or have experience participating in other clinical trials within 12 weeks from the screening date 19. Other cases where the investigator determines that participation in a clinical trial is inappropriate ethically or because it may affect the study outcome. ☞The specific reason is recorded in the CRF * Angiographic Exclusion Criteria: 1. Those who require manual or mechanical thrombectomy, rotational atherectomy, directional coronary atherectomy (DCA), etc. in addition to stent placement and balloon dilatation 2. If there are two or more target vessels 3. If there are two or more target lesions in one blood vessel 4. Any previous stent placement within 5 mm (proximal or distal) of the target lesion 5. When the investigator determines that PCI is not suitable because the target lesion hasany of the following characteristics: * Is severely tortuous ≥45° * An ostial lesion in location ③The target vessel has evidence of intraluminal thrombus or severe tortuosity (\> 90°) proximal to the target lesion ④Moderate or severe calcification at the target lesion or near the target lesion ⑤Target lesion that is located in a native vessel distal to an anastomosis with a saphenous vein graft or a left/right internal mammary artery (LIMA/RIMA) bypass and is approached through the by-pass graft ⑥If PCI cannot be performed for other reasons☞The specific reason is recorded in the CRF 6. Unprotected left main coronary artery disease (an obstruction greater than 50% diameter stenosis in the left main coronary artery) 7. If the investigator determines that the subject is not suitable for robotic-assisted PCI due to clinical and anatomical reasons.☞The specific reason is recorded in the CRF.