Endoscopes, a minimally invasive medical tool, are susceptible to impaired visibility due to the adhesion of biological fluids. However, traditional self-cleaning coatings face limitations in terms of transparency and sustainability, making it difficult to apply them to lenses. Inspired by the phospholipid layer of the eye, a reversible lubricating layer (RL-layer) with low-adhesion and high-transparency properties is reported. Even coagulated blood can be easily removed due to the low surface tension and easy swing of the brushes. In addition, the silicon–oxygen bonds can be cleaved by fluoride ions, thereby achieving reversible modification and showing potential in sustainable usage. To prove the concept, biomimetic endoscopic lenses are employed in vivo experiments. The results indicate that it consistently maintains a clear vision in narrow spaces containing mucus and exhibits excellent biocompatibility. The reversible lubricating layer provides valuable reference significance for self-cleaning coatings in other fields.