Colorectal cancer is a significant global health concern, ranking as the third most prevalent malignancy and the second most deadly cancer. Early detection of cancer plays a pivotal role in improving the chances of survival. Consequently, through colonoscopy, medical professionals conduct visual examinations of the colon to identify any early signs of cancer. Existing endoscopes have been associated with concerns regarding tissue damage and patient discomfort, leading to a reluctance among patients to undergo recommended screening procedures. For this reason, significant efforts have been made over the past two decades to develop alternative devices. In particular, the STORM Lab has implemented a robotic platform called Magnetic Flexible Endoscopy (MFE).