1. A method of detecting changes in mechanical and structural properties of breast tissue that are indicative of breast cancer development, said method comprising the steps of: scanning of the breast tissue by means of a hand held self-palpation device having a pressure sensor array integrated with a self-contained motion tracking system; acquiring pressure response data from said pressure sensor array and motion data from said motion tracking system during movement of said pressure sensor array along a plurality of trajectories overlaying said breast tissue; calculating position and orientation data from said motion data and said pressure response data; analyzing said pressure response data and said motion data; and determining mechanical and geometrical features of an inner structure of the beast tissue.