로 and 으로(after a bottom consonant, 받침, other than ㄹ) have two major meanings.
1. to, toward: an end point or destination of physical movement.
2. with, by means of: a means or way of doing something.
So 입술로 can mean two things, as in these examples:
1. 그는 와인 잔을 입술로 가져갔다: He brought the wineglass to his lips.
2. 그는 메마른 입술로 말하기 시작했다: He started speaking with his dried out lips.