In Wireless Sensor Networks mobile sinks help in balancing the network and reduce energy consumption in addition to solving hotspot issues. These benefits of a mobile sink depend on the path of the mobile sink. Specifically, in critical applications such as fire detection data needs to be collected with minimum delay. In such systems, the number of Rendezvous Points are minimized to satisfy the shortest path criteria, which in turn burdens the selected Rendezvous Points and depletes their energy. An efficient mobile sink path with minimum delay is proposed considering node densities. An additional set of Rendezvous Points are formed by selecting nodes with minimum distance without increasing the path length of the mobile sink. Further, an effective method for the detection and recovery of uncovered nodes due to the failure of Rendezvous Points is proposed. Simulations are performed and the results are compared with existing methods in terms of energy consumption, network lifetime, fault tolerance, etc. The results imply the effectiveness of the proposed method.