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Inspired by foxtail grass, we developed a magnetically actuated liquid-infused slippery microcatheter (LISMC) with artificial cilia. Its soft magnetic cilia and hydrogel coating allow smooth traversal of luminal surfaces, reducing friction by two-thirds compared to conventional designs. Magnetic cilium oscillation enhances adaptability to complex pathways and minimizes friction during navigation. As a proof of concept, the LISMC precisely deployed helical microswimmers to the bile duct and actuated them downstream for x-ray\u2013guided treatment of acute pancreatitis with rabbit models. 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