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Etude et modélisation du comportement dynamique d'un dispositif magnétique de micromanipulation : application au transport d'objets biologiques.

Abstract : Inra-cytoplasmic sperm injection is an assisted reproductive technolgy. In order to make easly the physician task and to increase the rate of success of this technique (30 %), it is ncessary to automated some stages of this process. We propose to realise the automatic cell transport task. The cells move in biological medium in a microchannel which supplies the working areas. It are pushed by a ferromagnetic particle, called pusher, with cells size and follows the movements of a magnet which make at the outside of the channel. The work presented in this thesis exposes the complete modelling of the pusher dynamic behaviour. This modelling is composing of three bloks function which determine successively the value of internal magnetization, the strain applied and the trajectory of a plane ferromagnetic object according to the variations of the external magnetic field. The fact of reducing the application range of the modelling to plan objects enables us to obtain a result according to our using criteria in a computing time lowly than an application such as Flux3DR. The use of the model highlighted the influence of the geometric and magnetic characteristics of the actives elements on the general behavior of the pusher. The experimental device made it possible to move 200 micrometers glasses balls diameter in tele-operated mode and open loop as well as human ovocytes of 150 micrometers diameter in tele-operated mode.
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Michaël Dauge. Etude et modélisation du comportement dynamique d'un dispositif magnétique de micromanipulation : application au transport d'objets biologiques.. Automatique / Robotique. Université de Franche-Comté, 2005. Français. ⟨tel-00257940⟩

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