Dark solitons in quantum fluids are well-known nonlinear excitations that are usually characterized by a single length scale associated with the underlying background fluid. We show that in the presence of spin-orbit coupling and a linear Zeeman field, superfluid Fermi gases support two different types of nonlinear excitations featured by corresponding length scales related to the existence of two Fermi surfaces. Only one of these types, which occurs for finite spin-orbit coupling and a Zeeman field, survives to the topological phase transition, and is therefore capable of sustaining Majorana zero modes. At the point of the emergence of this soliton for varying Zeeman field, the associated Andreev bound states present a minigap that vanishes for practical purposes, in spite of lacking the reality condition of Majorana modes.

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• Fermi gases
• Majorana bound states
• Spin-orbit coupling
• Solitons