How to use chroma key to replace design of complex object?
What you are thinking about is a very great way to save production costs and is used in many cases on many sets. Here is what your pipeline would look like:


Shoot the footage with green tables
Track the movement of the camera (using pfTrack preferably, but after effects can do the trick too)
Importing the tracked movement into any 3D-software such as blender
modeling the table so it fits the dimensions
moving the 3D-camera using the tracked data, so the 3d-camera matches the real camera.
rendering the sequence (preferably as an image sequence, such as .exr or .tiff)
importing the 3D-asset into the compositing-program (such as After Effects)
Keying out the green table and "replacing" it with the cgi table.


These steps are requiered only if you have a moving camera. If you don't, you can scrap points 2, 3 and 5. So if you want to save effort in the post-production, you can try to lock down your camera and put some artificial movement on your footage once it's composited.

Now, the tricky part is getting the shadows and the perspective right. Make sure to pack something like a grey-ball, or something matte and something shiny, so you can hold them in the frame to have a reference for later. You might need to fake the contact-shadows of the arms and hands when they are placed on the table. All of this is manageable from inside After-Effects though, no need to fire up heavy artillery like Nuke.