Based on principles similar to those of manual palpation, vaginal tactile imaging (VTI) could be used for imaging and tissue elasticity quantification. 31 women with and without prolapse were included in the study, with tissue elasticity (Young's modulus) calculated from spatial gradients in the resulting 3D tactile images. Tissue elasticity for the anterior and posterior compartments in women without prolapse were 7.4 ± 4.3 kPa and 6.2 ± 3.1 kPa, respectively, compared with 1.8 ± 0.7 kPa and 1.8 ± 0.5 kPa in women with Stage III prolapse. VTI could prove useful for 3D imaging of the vagina and quantitative assessment of vaginal tissue elasticity.