There is disclosed a tactile sensor assembly, as well as a palpation assembly and a tactile probe each incorporating the tactile sensor assembly. The tactile sensor assembly has a particular use in surgery, such as minimal access surgery. In one embodiment, a tactile sensor assembly (10) is disclosed which includes a force transmission member (20) and a sensor (18), wherein the force transmission member (20) includes a plurality of projections (22) for transmitting an applied force to the sensor (18), and wherein the sensor (18) is adapted to detect said applied force and to output a signal indicative thereof.