Pope Innocent IV issued the papal bull Ad extirpanda, authorizing the use of torture on heretics during the Medieval Inquisition.

Pope Innocent IV
Pope Innocent IV, born Sinibaldo Fieschi, was head of the Catholic Church and ruler of the Papal States from 25 June 1243 to his death in 1254.
Papal bull
A papal bull is a type of public decree, letters patent, or charter issued by the pope of the Catholic Church. It is named after the leaden seal (bulla) traditionally appended to authenticate it.
Ad extirpanda
Ad extirpanda was a papal bull promulgated on Wednesday, May 15, 1252 by Pope Innocent IV which authorized under defined circumstances the use of torture by the Inquisition as a tool for interrogation.
Heresy
Heresy is any belief or theory that is strongly at variance with established beliefs or customs, particularly the accepted beliefs or religious law of a religious organization. A heretic is a proponent of heresy.
Medieval Inquisition
The Medieval Inquisition was a series of Inquisitions from around 1184, including the Episcopal Inquisition (1184–1230s) and later the Papal Inquisition (1230s). The Medieval Inquisition was established in response to movements considered apostate or heretical to Roman Catholicism, in particular Catharism and Waldensians in Southern France and Northern Italy. These were the first of many inquisitions that would follow.