Laparoscopic tactile imaging probe equipped with pressure sensors is configured for placement into a body cavity to provide real time tactile feedback for a region of interest during a surgical procedure. A method for providing tactile feedback in laparoscopic surgery by calculating a two-dimensional tactile feedback image using a three-dimensional tactile image, and imposing said tactile feedback image on said region of interest for review in real time by a surgeon is disclosed. A laparoscopic tactile imaging probe consists of a probe housing with a plurality of tactile sensors are located over a cylinder surface and a visual markers over said probe housing for visual acquiring probe positioning data during said deformation by a laparoscopic video camera.
