In order to improve the safety of endoscopic surgery, a flexible endoscope with real-time tactile feedback (Tac-scope) has been proposed. It integrates a soft sensor at the end embedded with fiber Bragg grating (FBG) to detect the contact force with the lumen wall, while retaining the original function of the endoscope. In this article, theoretical analysis, simulated analysis, and experiments have been implemented, obtaining the mapping from FBG wavelength shifts to the force magnitude and orientation. To verify the real-time detection and feedback capability, tests are conducted on the bronchial model. The results show an average reduction of 60% in contact force and 30% in operation time. The linearity of Tac-scope force detection is 0.991, the repeatability error is 6.46%, the resolution is 8.8 mN, the sensitivity is 0.693 nm/N, the average error is 4.4%, and the error of orientation detection is 3.57%. Such merits indicate that the proposed Tac-scope has huge potential in endoscopic surgeries.