Training in laparoscopic surgery is mandatory and extends over a long period of time. Physical simulators, commonly known as box trainers, have become standard tools for surgical training; however, they generally lack integrated measurement systems that enable objective validation of skill acquisition. As a result, performance assessment often remains qualitative and highly dependent on expert observation, which limits the standardization and reproducibility of the certification process. This paper presents a miniaturized surgical tool holder designed for integration into physical simulators to enable quantitative performance assessment. The proposed system is based on a parallel mechanism with a Remote Center of Motion (RCM-PM). The methodology includes the kinematic and static analysis of the mechanism, with the formulation of both direct and inverse kinematic models. Static balancing of the mechanism is investigated as a passive gravity compensation strategy to counteract the torques induced by the weight of the structure and to minimize the required actuation torque, allowing the use of smaller actuators. The required counterweights are computed using the developed analytical models and validated through comparative simulations using a CAD-based dynamic solver. The results demonstrate a strong correlation between the analytical calculations and the dynamic simulations. Moreover, the proposed passive balancing strategy reduces the required holding torque by more than 70%, effectively neutralizing gravitational effects and ensuring transparent operation for the trainee.