A tactile sensor with conical concave profile

suitable for minimally invasive surgery（ MIS） is designed

which can not only analyze contact force and distinguish relative hardness of soft tissues

but also can obtain material parameters of soft tissue

and then identify tissue and tissue lesion. Firstly

contact model between sensor and elastic solid is set up; secondly

contact model between sensor and viscoelastic solid is set up according to correspondence principle between elasticity and viscoelasticity

and shear modulus of the tissue is estimated;finally

the feasibility of the sensor is verified.