This invention concerns performing clinical tissue examination with a device that includes sensors which produces signals in response to pressure imposed on the sensors as the sensors are pressed against the tissue. The sensors generate signals in response to pressure imposed on the sensors when pressed against a selected region of tissue. That pressure varies in accordance with properties of underlying tissue structures. An image of the region of tissue is generated based on the signals generated by the sensors. The image is then displayed. The image represents the pressure imposed on the sensors. The image that is displayed may be a three dimensional image of the region of tissue. The signals produced by the sensors can also be processed to detect an underlying tissue structure in the region of tissue. A location or a map of the detected underlying tissue structure relative to a reference point is generated and displayed. The results of a current examination are compared to those of a previous examination.