An irrigated ablation catheter adapted for direct tissue contact has micro-elements that provide more accurate sensing of tissue, including thermal and electrical properties for temperature and impedance and intracardiac ECG measurements. A pressure sensing assembly adds the ability to measure the force at the tip of the catheter as well as to have the micro-elements for accurately sensing tissue parameters. A system uses signals from the micro-elements (impedance, temperature, and ECG signals) as well as the measure of force or pressure at the tip electrode order to provide the operator with a means to control lesion depth, size, transmurality and to ablate tissue until successful treatment of an arrhythmia is achieved.