Abstract: The retention of residual kidney stone fragments following surgical removal, which is a primary cause of recurrence, remains a significant clinical challenge in urology. Inspired by the adaptability of natural mucilage and the efficiency of magnetic actuation, we propose a magnetic slime robot (MSR) specifically designed for percutaneous nephrolithotomy (PCNL), featuring a dedicated hybrid magnetic actuation system and a complete clinical workflow to address targeted residual fragment clearance. The MSR is fabricated from a polyvinyl alcohol–borax matrix embedded with NdFeB particles, and exhibits non-Newtonian fluidic behavior, self-healing properties, and controllable adhesion. Unlike systems relying solely on the movement of permanent magnets or static coil arrays, the custom hybrid system—which integrates electromagnetic coils with a spherical permanent magnet mounted on a robotic arm—generates programmable gradient, rotating, and oscillating fields, enabling robust multimodal deformation and locomotion for the highly viscous MSR in confined spaces. In vitro experiments in silicone and porcine kidney models demonstrate the MSR ’s ability to encapsulate stones up to 8 mm in diameter, navigate complex terrains with a tracking error of ≤1.3 mm, and clear stones within 3 min. This work establishes the MSR as a promising solution for improving postoperative stone clearance in PCNL.

用于微创取石的磁性粘液机器人：设计、表征与体外验证

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