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## Magnetic Microrobotics for Biomedical Applications

This research work mainly focuses on the study of the modeling and control of microrobotic systems in a biomedical context. So far, the use of magnetic actuation has been regarded as the most convenient approach for such achievements. Besides, the cardiovascular system allows to reach most parts of the human body and is then chosen as the main navigation route. This original topic is a rapidly expanding field whose ambition is to modernize current therapies by trying to improve therapeutic targeting while improving patient comfort. To achieve this goal, a good understanding of how microrobots evolve in the human body is an important step. The theoretical foundations and the physical laws that make it possible to describe the various phenomena which act on magnetic microrobots in vascular-like environments have thus been deeply studied. Methodologies for dealing with multiphysics approaches combining different sources of hypotheses and uncertainties have been developed. Great care has been taken in their validations by experimentation when possible, otherwise by numerical analysis. This helps to better understand the dominant dynamics, as well as the predominant parameters in the description of magnetic microrobots in a vascular-like environment. This makes it possible to efficiently characterize and predict their behaviors in a viscous flow and their responses to magnetic fields. On this basis, advanced navigation strategies have been developed. The navigation process can be divided into two stages. First, safe and efficient navigation paths are planned (off-line) based on the fast marching method (FMM). With the proposed navigation planning framework, different constraints and objectives can then be taken into account to obtain a truly feasible reference path. Second, control schemes that drive the magnetic microrobots along the planned reference path to the targeted location are synthesized. To do so, predictive and optimal control laws have been implemented. All the proposed models and navigation strategies have been evaluated through various experiments under different conditions with the platforms developed at the PRISME Laboratory.

## Microrobots magnétiques pour des applications biomédicales

Ce travail traite principalement l'étude de la modélisation et du contrôle de systèmes microrobotiques dans un contexte biomédical. Jusqu'à présent, l'utilisation de l'actionnement magnétique est considérée comme l'approche la plus prometteuse pour de telles réalisations. Par ailleurs, le système cardiovasculaire permet d'atteindre la plupart des parties du corps humain et est alors choisi comme voie de navigation principale. Cette thématique originale est un domaine en pleine expansion dont l'ambition est de moderniser les thérapies actuelles en essayant d'améliorer le ciblage thérapeutique tout en améliorant le confort des patients. Pour atteindre cet objectif, une bonne compréhension du comportement des microrobots dans le corps humain est une étape importante. Les fondements théoriques et les lois de la physique permettant de décrire les différents phénomènes qui agissent sur les microrobots magnétiques dans des environnements de type vasculaire ont ainsi été étudiés en détails. Des méthodologies pour traiter des approches multiphysiques combinant différentes sources d'hypothèses et d'incertitudes ont été développées. Un grand soin a été apporté à leurs validations par l'expérimentation lorsque cela était possible, le cas échéant par des analyses numériques. Cela permet de mieux comprendre la dynamique dominante, ainsi que les paramètres prédominants dans la description des microrobots magnétiques. Cela permet de caractériser et de prédire efficacement leurs comportements dans un écoulement visqueux et leurs réponses aux champs magnétiques. Sur cette base, des stratégies de navigation avancées ont été développées. Le processus de navigation peut être divisé en deux étapes. Premièrement, des chemins de navigation sûrs et efficaces sont planifiés (hors ligne) sur la base de la méthode du fast marching (FMM). Dans le cadre de la méthode de planification de la navigation proposée, différentes contraintes et objectifs peuvent être pris en compte pour obtenir un chemin de référence véritablement réalisable. Deuxièmement, des stratégies de commande guidant les microrobots magnétiques le long du chemin de référence jusqu'à l'emplacement ciblé sont synthétisées. Pour ce faire, des lois de commande prédictives et optimales ont été mises en œuvre. Tous les modèles et stratégies de navigation proposés ont été évalués à travers diverses expérimentations dans différentes conditions sur les plateformes développées au Laboratoire PRISME.