This paper presents the theoretical design of a compliant remote center of motion (RCM) mechanism. The proposed mechanism utilizes compliant elements to produce two rotational degrees of freedom in a parallel compliant mechanism, to which is serially added a third rotational motion. A systematic modeling approach is employed to analyze and synthesize the compliant structure. A cable-driven approach is then adopted to actuate the mechanism, and a kinematic model is presented. This study establishes a foundation for future physical implementation and experimental validation, with application to surgical robotic systems.