A curved scissor linkage mechanism (1) includes at least four linkage elements (2) each having a first end (3) and a second end (4). The linkage elements are arranged to form sides of one or more rhombi or parallelograms. Each linkage element is rotationally connected to another linkage elements via a revolute joint (5) at the first end and is rotationally connected to another one of the other linkage elements via another revolute joint at the second end. The linkage elements are configured so that the axes of each joint coincide at one common remote centre of motion. The mechanism is connectable to a first external member (7) at a proximal end and is rotationally connectable to a second external member (9) at an opposite distal end to obtain three DOFs. The scissor linkage mechanism may further include a motion controlling mechanism.