He withdrew from the Barcelona Open last month because of the lingering wrist inflammation.
"I will plan to play Rome, but we'll see", he said.
"Goffin and I played at a really high level", said Nadal, still undefeated this year on clay.
The Spaniard, victorious in Monte Carlo and Barcelona, triumphed 7-6 (6-3) 6-2 on Friday to set up a semi-final showdown with Novak Djokovic.
World number two Novak Djokovic stormed into the semi-finals of the Madrid Masters without hitting a ball as Japan's Kei Nishikori pulled out of the match due to the recurrence of a wrist injury in Spain on Friday. "(The) French is more important".
Andy Murray concerned about current form; criticises Maria Sharapova's wild card entry again
The other semi-final is between Dominic Thiem and Pablo Cuevas, and the final is on Sunday.
It was Djokovic, who had dominated on the clay previous year as he went on to win the Roland Garros title.
Having not produced convincing wins so far in Madrid, Djokovic will be looking for the big scalp to get his season back on track ahead of his title defence at the French Open.
In a meeting between the players with the most match wins this year, Nadal saved all five break points he faced against the 10th-ranked Belgian, and converted on his chances in the second set to win his 13th straight match.
He will face the victor of the late night match between number 8 seed Dominic Thiem and Borna Coric, who knocked number one seed, Andy Murray out earlier in the week. "In his dip after Wimbledon, he won in Montreal. made the final at the US Open, the semi-finals in Shanghai, the final in the World Tour Finals". The third-seeded Halep, who lost the 2014 final to Maria Sharapova, will play Kristina Mladenovic of France.