Recently we have found that a soft probe can enhance the information gain during palpation of a soft tissue to locate a hard nodule like a tumor. We have noticed that certain stiffness ranges of the probe provide the best haptic feedback to the base of the probe. The aim of this project is to model the interaction dynamics using finite element method or any other approach to explain why this information gain occurs. This will help to develop better surgical probes for laparoscopic palpation of soft tissue in minimally invasive surgery. This project is done in collaboration with the Guy’s Hospital.