Evaluating the Safety and Effectiveness of a Vascular Interventional Robotic System in Assisting With Percutaneous Coronary Intervention Procedures: A Prospective, Multicenter, Randomized Controlled Clinical Trial

Inclusion Criteria: 1.18 years ≤ Age ≤ 80 years; 2.Presence of clinical indications for PCI and requiring PCI treatment; 3.The subject or their legal guardian is able to understand the trial objectives, voluntarily signs the informed consent form, and is willing to comply with follow-up procedures. 4.Visual estimation of target lesion diameter stenosis ≥70% (or ≥50% with clinical evidence of myocardial ischemia); 5.2.25 mm ≤ Visual reference vessel diameter ≤ 4.0 mm; 6.The target lesion can be fully covered by a single stent, with at least 2.0 mm of normal vessel segment at the proximal and distal edges of the lesion; 7.Number of target vessels requiring treatment ≤ 2; one target lesion treated with one stent; staged treatment of the target lesion is not allowed. Exclusion Criteria: 1. Underwent other PCI within 72 hours before the PCI procedure. 2. Underwent PCI within 30 days before the PCI procedure and experienced a Major Adverse Cardiovascular Event (MACE). 3. Experienced acute Myocardial Infarction (MI) within one week before the PCI procedure. 4. Experienced cardiogenic shock within 48 hours before the PCI procedure. 5. Had a stroke within 30 days before the PCI procedure. 6. Subjects with active peptic ulcer or upper gastrointestinal bleeding within 6 months before the PCI procedure. 7. Severe heart failure (NYHA Class IV). 8. Pregnant and lactating women, or women planning to become pregnant during the clinical trial period. 9. Known allergy to aspirin, heparin, clopidogrel, contrast agents, metal materials, etc. 10. Patients with acute or chronic kidney disease (e.g., serum creatinine \>2.5 mg/dL or \>221 µmol/L) or on dialysis. 11. Subjects with a history of major bleeding or coagulation disorders within the past 6 months. 12. Subjects currently participating in another clinical study that has not completed the entire follow-up period. 13. The investigator determines that the patient has other conditions unsuitable for PCI assisted by the vascular interventional robotic system. 14. Requiring other treatment modalities (such as rotational atherectomy or laser therapy) in addition to balloon angioplasty and stent angioplasty. 15. Presence of more than two lesions in a single vessel requiring simultaneous treatment. 16. Presence of visible thrombus. 17. The target lesion is located in the left main coronary artery. 18. Severely tortuous lesions, severely calcified lesions, or other complex vascular conditions deemed by the investigator as unsuitable for PCI assisted by the vascular interventional robotic system.