If you can see the piece of substrate I'd be tempted to get him out gently , hold his body securely in a towel with one hand ad pull the substrate out with your other hand ( use tweezers if you like ) .
It's a Royal so you should be fine .. just be slow and very gentle
If you don't already then in future simply lay a couple of pieces of card or A4 paper down before feeding and offer over that .
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