In this paper the design and simulation of a new tactile array sensor for minimally invasive surgery (MIS) is presented. Using MEMS technology, this sensor can be integrated with the current commercial endoscopes tips of the grasper. The designed sensor can detect magnitude and the position of applied forces on the endoscope jaw. Current available commercial endoscopes are not equipped with tactile feedbacks. The presented sensor could be used as object imaging, where a data processing of the feedback signal could detect the mechanical properties and the shape of the grasped tissues. The designed sensor is built up from three layers. The upper layer is fabricated from monocrystalline silicon to form the teeth shape, the middle layer is the sensing element which is fabricated from Polyvinylidene Fluoride (PVDF) film, and the lower layer is a supporting substrate to support the PVDF layer. The designed sensor consists of eighteen sensing elements distributed as a matrix of six by three on the area of one jaw, where the length and the width of this sensor are two millimeters and one millimeter respectively. In other array sensors, the regions between the neighboring sensing elements are not active. In this sensor, all surface points of this designed sensor are practically active. Simulation results show that for any applied force, the magnitude and the position of this force can be detected; also good linearity between voltages on the sensing layer with respect to the applied force on the teeth layer is reached. This sensor as proposed is a good candidate for batch micromachining, which is yet another commercial advantage for this design and, because of its cheap manufacturing costs; the surgeon can use it as a disposal part of the endoscope tool. Thus re-sterilization is not required leading to reduced in cost and safer surgery.