Adhesion property measurements contribute to a comprehensive understanding of the mechanical properties of soft matters. Indentation tests are a common method for measuring the adhesion force. However, indenters generally have a large volume and a small sensing angle and, thus, are not conducive to local detection in high-precision environments. Here, we propose a vision-based contact adhesion measurement (VisCAM) method to achieve the contact image and adhesion force on soft matter surfaces from the perspective of indentation direction. The coupling of the 7.6 mm diameter probe and a flexible fiber makes the system similar to a miniaturized endoscope. Classical contact theories and finite element models are used for the contact mechanics analysis of silicone rubber. The image grayscale-load mathematical model is constructed based on the change in contact light spot. Finally, the uncertainty of the system is less than 4%, and the measurement error is 0.04 N. In-vitro kidney indentation experiments showed that the local adhesion force measurement of soft tissues can be completed. Our method provides better solutions for understanding the adhesion properties of soft matters.