The purpose of the Remote Center of Motion (RCM) mechanism is to mechanically guide the orientation of the medical instrument inserted into the skin. In order to avoid a collision between the inserted instrument and a patient, each rotation range, pitch and roll, should not exceed 180°. In the tilting mechanism for the pitch rotation, not only RCM but also the limitation of the rotation range is generally achieved by the mechanical structure. However, since the roll rotation is generally implemented by a typical revolute joint using rotary motor, the rotation range must be confined by a software based method. To avoid the risk of electrical malfunctions and ensure the surgical safety, both rotation ranges should be confined by the mechanism itself. In this paper, we proposed a new type of revolute joint using a lead screw driven actuator. The proposed mechanism mechanically confined the range of 140°. In addition, the proposed revolute joint can improve the angular resolution and reduce the applied load torque compared to the conventional joint. Through a series of static analyses, it was confirmed that the resolution is improved by approximately 75 times and the load torque is reduced by approximately 42 times.