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Scanning ion conductance microscopy (SICM) offers the ability to obtain nanoscale resolution images of the membranes of living cells. Here, we show that a dual-barrel nanopipette probe based potentiometric SICM (P-SICM) can simultaneously map the topography and surface potential of soft, rough and heterogeneously charged surfaces under physiological conditions. This technique was validated and tested by systematic studies on model samples, and the finite element method (FEM) based simulations confirmed its surface potential sensing capa