Is there any version of arduino that can do something like serial interruption? I am using an Arduino to control servo MX18A by serial, and trying to use computer to communicate with the Arduino by another serial to send commands to Arduino and change the servo control mode. Once the computer send a message to Aruduino, I hope it could response in time because may be there is something emergency like the servo being out of control ,under which circumstance I have to change the control strategy in time.

However, it seems like Arduinos like UNO, MEGA does not have serial interruption, so once the message from computer comes, it could not response in time. 

I know that judging serial.available() in every loop is one solution, but in my different servo control strategy there are many time delays, for loops and while loops, which means that I have to put serial.available() in every time delay or for loops, making the code hard to write and maintain.
It is not a case of "An Arduino" that can do serial interupts. All Arduino boards have serial interrupts, but they are already used to receive the data and store it in a buffer for you to consume when you have the time.

The Arduino API does not define any serial interrupt handling routines. That kind of thing is designed to be handled internally by the API code, not by the user. That's the whole point of the Arduino API - to abstract away such technicalities from the user.

If you want to use the serial interrupt yourself you will have to write your own serial handling code.

Or write your code in such a way that serial interrupts aren't needed.