Peker, FurkanAkcan, O. GokalpAtak, DilaOzata, Ibrahim H.Uymaz, Derya S.Balik, EmreFerhanoglu, Onur2026-04-042026-04-0420260924-42471873-3069https://doi.org/10.1016/j.sna.2025.117391https://hdl.handle.net/11411/10478The correlation between tissue elasticity and histopathological diagnosis has brought attention to the develop ment of biomedical devices for in-vivo measurement of tissue biomechanical properties. Towards this aim, we have developed a tactile sensing capsule endoscope to measure tissue Young's modulus, in situ. Inspired by force microscopy, the capsule comprises four cantilevers that probe the walls of the GI tract using a single miniaturized actuator. The force exerted on the cantilever tip by the tissue is measured using the piezoelectric layer integrated on the cantilevers. The tactile-based modulus sensing capsule was initially tested on ex-vivo animal tissue, fol lowed by healthy and cancerous human specimens. The results clearly delineate the differences in mechanical properties, with a Young's modulus of 11.3 +/- 2.3 kPa for healthy and 26.8 +/- 4.6 kPa for cancerous tissue. Overall, in the realm of tactile-based modulus sensing of tissues, our technology uniquely combines localized, quantitative Young's modulus measurements with the capability to perform multiple measurements throughout the GI tract wall in a single procedure. Moreover, the developed sensor has a compact form factor, in accordance with the capsule dimensions, and simple manufacturing steps using stereolithography. With further improvements, the developed medical device can be utilized as a non-invasive diagnostic tool in the clinic.eninfo:eu-repo/semantics/closedAccessBiomechanical MeasurementsCapsule EndoscopyTactile SensingEarly Cancer DiagnosisArticle2-s2.0-10502985105710.1016/j.sna.2025.11739110.1016/j.sna.2025.117391Q1399Q1WOS:001654554800001