Yes you can but it is very tricky. The back of the note 5's are glass and that's the first thing that needs to be taken off in order to reach the inner part of the stylus. If you don't mind to break the glass, then I would say, go get you a blow dryer and some business cards and a razor and pry it off. After the back is off, you need to remove the screws to remove the plastic covering, then you will see your stylus holster and you will be able to easily remove the broken pieces of the stylus. here is a good disassemble video.
https://www.bing.com/videos/search?q=disassembler+note+5&&view=detail&mid=7449D1CAEBBD2EDE17E77449D1CAEBBD2EDE17E7&FORM=VRDGAR