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Arthroscopic surgery is a technically challenging but common minimally invasive procedure with a long learning curve and a high incidence of iatrogenic damage. These damages can occur due to the lack of feedback and supplementary information regarding tissue-instrumentcontact during surgery. Deliberately performed interactions can be used however to obtain clinically relevant information, e.g. when a surgeon uses the tactile feedback to assess the condition of articular cartilage. Yet, the perception of such events is highly subjective. We propose a novel proximally attached sensing concept applied to arthroscopic surgery to allow an objective characterization and utilization of interactions. It is based on acoustic emissions which originate from tissue-instrument-contact, that propagate naturally via the instrument shaft and that can be obtained by a transducer setup outside of the body. The setup was tested on its ability to differentiate various conditions of articular cartilage. A femoral head with varying grades of osteoarthritic cartilage was tapped multiple times ex-vivo with a conventional Veress needle with a sound transducer attached at the outpatient end. A wavelet-based processing of the obtained signals and subsequent analysis of distribution of spectral energy showed the potential of tool-tissue-interactions to characterize different cartilage conditions. The proposed concept needs further evaluation with a dedicated design of the palpation tool and should be tested in realistic arthroscopic scenarios.