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Despite the advantages of minimally invasive surgery the applicability of (robot assisted) minimally invasive techniques is limited to simple operations due to the lack of tactile feedback. Tactile feedback is essential in many operations such as border detection during tumor resections and localization of nerves and veins embedded in soft tissue. This work compares the performance of existing tactile stimulation methods using psychophysical techniques in an edge detection test. Several mechanical and psychophysical design considerations for lateral skin stretch and perpendicular indentation displays are given. Considering the list of disadvantages, related to lateral skin stretch, we conclude that perpendicular indentation is the preferred stimulation method for tactile feedback systems to be used in minimally invasive surgery. [ABSTRACT FROM AUTHOR]