Colorectal cancer (CRC) is the third leading cause of cancer death worldwide, and its incidence is constantly rising in developing nations. It usually starts as a benign tumour in the form of a gastrointestinal polyp, which becomes cancerous over time. Colonoscopy is the most common recommended screening procedure. During this exam, a semi-rigid endoscope with diagnostic and therapeutic capabilities is inserted into the patient via the rectum and pushed forward through the large intestine by the physician. However, owing to the method of actuation, current endoscopes often cause tissue damages and patient discomfort. In the past twenty years, a wide range of tethered and wireless devices have been developed to mitigate these limitations, so to decrease the risk associated with the colonoscopy.