This research article presents the development of a low-friction soft robot (LFSR) designed for targeted bacterial infection treatment in the gastrointestinal (GI) tract. The LFSR is designed to navigate through the complex and viscous environment of the GI tract, which is challenging for traditional medical tools and robots. The robot is constructed using densely arranged cone structures and hydrophobic monolayers, which reduce surface friction and enhance motion velocity in non-Newtonian liquids like mucus. The robot's stiffness can be reversibly controlled using magnetically induced hardening, enabling on-site scratching and destruction of antibiotic-resistant biofilms. Additionally, the magnetocaloric effect is utilized to heat the LFSRs using a high-frequency alternating magnetic field, effectively eradicating bacteria. Clinical imaging-guided actuation platforms, integrating x-ray and ultrasound imaging, are developed to track and control the robot's movement inside the body. The LFSR and imaging-guided platforms show high potential for performing bacterial infection therapy in various lumens of the body.This research article presents the development of a low-friction soft robot (LFSR) designed for targeted bacterial infection treatment in the gastrointestinal (GI) tract. The LFSR is designed to navigate through the complex and viscous environment of the GI tract, which is challenging for traditional medical tools and robots. The robot is constructed using densely arranged cone structures and hydrophobic monolayers, which reduce surface friction and enhance motion velocity in non-Newtonian liquids like mucus. The robot's stiffness can be reversibly controlled using magnetically induced hardening, enabling on-site scratching and destruction of antibiotic-resistant biofilms. Additionally, the magnetocaloric effect is utilized to heat the LFSRs using a high-frequency alternating magnetic field, effectively eradicating bacteria. Clinical imaging-guided actuation platforms, integrating x-ray and ultrasound imaging, are developed to track and control the robot's movement inside the body. The LFSR and imaging-guided platforms show high potential for performing bacterial infection therapy in various lumens of the body.