Haywood missed Sunday's third game, won 88-86 by Miami victory, because of a strained right hip flexor but Carlisle said he would play in game four.
"The plan is that we'll give it a shot and hopefully it will go well," Carlisle told reporters before tip-off.
"He's worked hard to reduce the swelling. He's had multiple MRIs, all that stuff."
Haywood had played in all 17 of the Mavericks' playoff games before Sunday, averaging 3.3 points. Miami led the best-of-seven series 2-1.
(Editing by Julian Linden)