Remote Center of Motion (RCM) mechanisms have become essential in minimally invasive surgical interventions. In some cases, controlling the position of the Center of Rotation (CoR) is desirable or even required. But most RCM mechanisms do not provide this feature unless mounted on large and heavy translational platforms. The present study proposes a compact and lightweight alternative using the concept Spherical Reconfigurable Linkages (SRL). This modular and reconfigurable linkage is able to modify its radius. This allows the displacement of the CoR. By mounting a series of SRL appropriately, a novel RCM mechanism with controllable CoR is created. The fully rotational 3-RRR SPM mechanism is therefore improved into a 3R3T version. The kinematic and velocity models are derived with consideration of the SRL reconfiguration.