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Realistic modelling of human soft tissue is very important in medical applications. This paper proposes a novel method by dynamically incorporating soft tissue characterisation in the process of soft tissue modelling to increase the modelling fidelity. This method defines nonlinear tissue deformation with unknown mechanical properties as a problem of nonlinear filtering identification to dynamically identify mechanical properties and further estimate nonlinear deformation behaviour of soft tissue. It combines maximum likelihood theory, nonlinear filtering and nonlinear finite element method (NFEM) for modelling of nonlinear tissue deformation behaviour based on dynamic identification of homogeneous tissue properties. On the basis of hyperelasticity, a nonlinear state-space equation is established by discretizing tissue deformation through NFEM for dynamic filtering. A maximum likelihood algorithm is also established to dynamically identify tissue mechanical properties during the deformation process. Upon above, a maximum likelihood-based extended Kalman filter is further developed for dynamically estimating tissue nonlinear deformation based on dynamic identification of tissue mechanical properties. Simulation and experimental analyses reveal that the proposed method not only overcomes the NFEM limitation of expensive computations, but also absorbs the NFEM merit of high accuracy for modelling of homogeneous tissue deformation. Further, the proposed method also effectively identifies tissue mechanical properties during the deformation modelling process. [ABSTRACT FROM AUTHOR]