A tactile probe, implemented as a foremost portion of a catheter for endovascular intervention, comprising: an axially extending central column; a plurality of lateral electrodes evenly distributed around the central column; a conductive contact sleeve circumferentially surrounding the central column, the contact sleeve comprising a top portion and a side wall, the top portion connected by an elastomer to a leading end of the central column, the side wall having a first end in connection with the top portion and a second end circumferentially surrounding the plurality of lateral electrodes, the side wall spaced apart from each of the plurality of lateral electrodes by a radial gap; a top electrode connected to the central column by an elastic component and spaced from the top portion of the contact sleeve by a first axial distance; and an alert electrode (4, 4a, 4b, 4') fixed to the central column and positioned behind both the contact sleeve and the top electrode, wherein the contact sleeve is radially movable relative to the central column and is able to be electrically connected to at least one of the plurality of lateral electrodes to allow a lateral contact signal to be generated, and wherein the contact sleeve is axially movable relative to the central column such that in an event of the contact sleeve being axially displaced relative to the central column by the first axial distance, an electrical connection is established between the top portion of the contact sleeve and the top electrode to generate a top contact signal, and in an event of the contact sleeve being axially displaced relative to the central column by a second axial distance that is greater than the first axial distance, an electrical connection is established between the side wall of the contact sleeve and the alert electrode (4, 4a, 4b, 4') to generate a warning signal, wherein the contact sleeve is coupled to an electrical signal input terminal via a wire, and wherein each of the plurality of lateral electrodes, the top electrode and the alert electrode (4, 4a, 4b, 4') are connected to respective electrical signal output terminals via wires. an axially extending central column; a plurality of lateral electrodes evenly distributed around the central column; a conductive contact sleeve circumferentially surrounding the central column, the contact sleeve comprising a top portion and a side wall, the top portion connected by an elastomer to a leading end of the central column, the side wall having a first end in connection with the top portion and a second end circumferentially surrounding the plurality of lateral electrodes, the side wall spaced apart from each of the plurality of lateral electrodes by a radial gap; a top electrode connected to the central column by an elastic component and spaced from the top portion of the contact sleeve by a first axial distance; and an alert electrode (4, 4a, 4b, 4') fixed to the central column and positioned behind both the contact sleeve and the top electrode, wherein the contact sleeve is radially movable relative to the central column and is able to be electrically connected to at least one of the plurality of lateral electrodes to allow a lateral contact signal to be generated, and wherein the contact sleeve is axially movable relative to the central column such that in an event of the contact sleeve being axially displaced relative to the central column by the first axial distance, an electrical connection is established between the top portion of the contact sleeve and the top electrode to generate a top contact signal, and in an event of the contact sleeve being axially displaced relative to the central column by a second axial distance that is greater than the first axial distance, an electrical connection is established between the side wall of the contact sleeve and the alert electrode (4, 4a, 4b, 4') to generate a warning signal, wherein the contact sleeve is coupled to an electrical signal input terminal via a wire, and wherein each of the plurality of lateral electrodes, the top electrode and the alert electrode (4, 4a, 4b, 4') are connected to respective electrical signal output terminals via wires.