Colorectal cancer (CRC) is nowadays one of the deadliest cancer but the high surviving rate is achievable if the disease is diagnosticated and treated at the early stage. However, the standard procedure represents a discomfortable treatment for many patients to the point that many are discouraged from undergoing routine screening programs. For this reason, research in capsule robotic colonoscopy is in high demand; the main objective of robotics in this field is to design a system capable of navigating inside the large intestine to provide a visual inspection of the lumen, possibly, carrying surgical tools required in the colonoscopy procedure, i.e. polypectomy, without the creation of large pushing forces and loops. In this work, we discuss the design and the features of the SOFTScreen system, discussing the testing of its locomotion capability inside a silicone phantom resembling the colon surface.