After presenting the mathematical background of modelling elastic deformations together with finite element formulation, we propose a new algorithm allowing haptic interaction with soft tissues having both non-linear geometric and physical properties. The algorithm consists of two phases-first the configuration space is precomputed in a high-performance possibly distributed environment, then the precomputed data are used during the haptic interaction. In the paper we focus mainly on sequential description of the first phase of the algorithm. We present some preliminary experimental results concerning the accuracy of the proposed method as well and the sketch of further extensions.