Touch sensor, medical device, and medical system

[Problem] To provide a touch sensor, a medical device, and a medical system, which minimize the effects on a contacted object, so as to be able to smoothly scan the contacted object while being in contact therewith, and with which it is possible to acquire a wide range of information. [Solution] Provided is a touch sensor 1, characterized by being equipped with a spheroidal contact member 12 that can rotate in any direction, a support member 11 for supporting the contact member 12 so as to allow rotation, and detection members 13, 14 for detecting the pushing force with which the contact member 12 pushes the support member 11.