A breast examination training system is used to train physicians and other medical personnel on techniques for clinical breast examinations. The system includes a model having an outer shape comparable to a human breast. Inflatable nodules are embedded at various locations and depths in the model. The nodules are adapted to inflate to simulate tumors and are relatively undetectable by touch when deflated. A valve network fluidly couples the nodules to a pump that inflates the nodules, and a processor is operatively coupled to the valves to actuate the valves to selectively inflate the nodules.