Abstract: A tissue examination apparatus particularly useful for automated breast palpation is provided. The apparatus includes an actuator having an extendable probe for contacting the tissue and an electronic control module that controls extension and retraction of the probe. The electronic control module determines displacement distances of the probe and forces exerted on the probe at each displacement distance when the probe is extended so as to contact the tissue. The apparatus also has a drive assembly secured to a frame. The drive assembly includes a movable carriage and a corresponding drive motor. The actuator is mounted on the movable carriage. The drive motor receives motion control signals from the electronic control module and thereby moves the actuator over a patient's body. At different locations, the probe is extended into the patient's tissue and force and displacement readings are obtained and sent to the electronic control module.