We present a compact, low-cost solution for palpation and imaging in minimally invasive surgery and other applications requiring a small diameter. The design, called CERVA, employs a soft 8 mm silicone lens profile at the tip of a flexible endoscope. The surface is semi-relective: when illuminated from inside, light reflects to create a high-resolution tactile display. When illuminated externally, the camera can perform direct imaging of tissue. A compelling application is cervical colposcopy, where the combination of imaging and tactile display may help to identify high-risk cervical regions. We demonstrate the tactile capabilities of the sensor by comparing contact areas to classical models and through an in vivo tissue classification task. Using a phantom created to simulate stage 1A cervical cancer, we also demonstrate the imaging capabilities through visual inspection in comparison to images taken using an endoscope without the tactile dome. Our results suggest that CERVA is a promising solution to improve the accuracy of minimally-invasive palpation for data sharing between populations.