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We describe a finite element (FE) model for simulating wheel-rolling tissue deformations using a rolling finite element model (RFEM). A wheeled probe performing rolling tissue indentation has proven to be a promising approach for compensating for the loss of haptic and tactile feedback experienced during robotic-assisted minimally invasive surgery (MIS) [1-6]. A sound understanding of wheeltissue rolling interaction dynamics will facilitate the evaluation of signals from rolling indentation. In this paper we model the dynamic interactions between a wheeled probe and a soft tissue sample using the ABAQUS finite element analysis software package. The aim of this work is to more precisely locate abnormalities within soft tissue organs using RFEM and hence aid surgeons improving diagnostic ability. The soft tissue is modeled as a nonlinear hyperelastic material with geometrical nonlinearity. The proposed RFEM was validated on a silicone phantom and a porcine kidney sample. The results show that the proposed method can predict the wheel-tissue interaction forces of rolling indentation with good accuracy and can also identify the location and depth of simulated tumors accurately.