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Remote center of motion (RCM) is an important concept in the kinematics for robotic minimally invasive surgery (MIS). This work focuses on the kinematic modeling of mechanism design for programmable RCM in MIS. Programmable RCM uses multiple joints coordination to maintain the isocenter of surgical tool manipulation during MIS. In this work, the kinematic task requirement is studied using a multibody system analysis approach. A generalized model based on closed-loop kinematic chain was proposed. Next, an appropriate serial manipulator was conceptualized and kinematically modeled. Finally, simulation-based evaluations were performed on virtual models built with modeling software tools. The contribution of this work is the introduction of a model-based design analysis methodical approach. This will provide a framework for the implementation of a model-based control scheme in robotic minimally invasive surgery. In addition, this work could offer potential insights to better innovations for mechanical RCM system.