Minimally invasive surgeries have become popular in the fields of cardiovascular and abdominal surgery. Since dificulty of the surgeries depends on their approaches, the system that enables surgeons to rehearse procedures in constructing surgical fields is useful and required. However, most of current surgical planning systems are not applicable to simulate whole process of the procedures because they cannot deal with complex physical behaviour of soft tissues. This paper proposes to establish a virtual reality based planning system of surgical approaches using an adaptive physics-based framework. The framework provides finite element based deformation in real time inaddition to interactive soft tissue cutting, and generates virtual surgery fields effectively. Also, the developed system gives a palpation environment to identify arterial sclerosis in the reconstructed surgical field. This paper evaluates characteristics of the visual and haptic framework and verifies the performance of the proposed system.