Change IP in a SIP INVITE

Also, is it possible that each time a make a change in an iRule that I have remove the iRule from the VS and put it back ?

No, but the iRule won't take effect for existing connections (by design). You could manually clear the connection for your client using 'tmsh delete sys conn cs-client-addr 1.1.1.1'

If you're trying to replace the IP%RD with the server address in the SIP URI you could try this:

when SIP_REQUEST {
   if {[SIP::method] eq "INVITE" && [SIP::uri] contains "10.215.186.38" }{
       Force a pool member selection
      eval [LB::select] 

       Rewrite the destination to the server IP
       Ex SIP URI: sip:94167127070@10.215.184.71%10:5060 
      SIP::uri [string map "10.215.184.71%10 [LB::server addr]" [SIP::uri]]
   }
} 

Aaron