In one aspect, an elastography system includes an elastography device and a position sensing device connected to the elastography device. The elastography device includes a housing, a probing element removably attached to the housing, and a force sensor attached within the housing, where the force sensor is connected to the probing element. In another aspect, an elastography) method includes inserting a probing element into a material, producing, by a force sensor connected to a base of the probing element a signal indicative of a force applied to the probing element upon insertion of the probing element into the material, and based on the signal, deriving a mapping of spatial variations of a material property within the material.