Medical images often suffer from low contrast, irregular gray-level spacing and contain a lot of uncertainties due to constraints of imaging devices and environment (various lighting conditions) when capturing images. In order to achieve any clinical-diagnosis method for medical imaging with better comprehensibility, image contrast enhancement algorithms would be appropriate to improve the visual quality of medical images. In this paper, an automated image enhancement method is presented for colonoscopy images based on the intuitionistic fuzzy soft set. The fuzzy soft set is used to model the intuitionistic fuzzy soft image matrix based on a set of soft features of the colonoscopy images. The technique decomposes the fuzzy image into multiple blocks and estimates a soft-score based on an adaptive soft parametric hesitancy map by using the hesitant entropy for each block to quantify the uncertainties. In the processing stage, an adaptive intensity modification process is done for each block according to its soft-score. These scores are accurately addressed the gray-level ambiguities in colonoscopy images that lead to better results. Finally, the enhanced image achieved by performing a defuzzification together with all unprocessed blocks. Qualitative and quantitative assessments demonstrate that the proposed method improves image contrast and region-of-interest of polyps in colonogram. Experimental results on enhancing a large CVC-Clinic-DB and ASU-Mayo clinic colonoscopy benchmark datasets show that the proposed method outperforms the state-of-the-art medical image enhancement methods.