This paper is a study on the development of a haptic sensor system for robot surgery. The haptic sensor was manufactured by way of trial, which was consisted of rubber sensor and terete device. The terete device was allocated as hound's tooth check, for the purpose of estimation of normal load and traction load. Integral part of the tactile sensor system is the sensor itself i.e. the part of the system that transform the applied pressure/force in a change of resistance. The sensor output well describes the 3-dimensional distribution of force and will represent the subjective evaluations of surgeon.