This paper presents the design and analysis of a compact, cable-driven manipulator specifically for tissue retraction during neuroendoscopic surgery. The manipulator features an underactuated mechanism with a three-joint serial configuration, enabling stable motion within a single plane. Its compact design facilitates seamless integration into standard neuroendoscopic working channels, thereby optimizing spatial efficiency. The kinematic model was established using the Denavit–Hartenberg parameter method, with both forward and inverse kinematics systematically derived. Furthermore, a statics model was developed based on the Lagrangian formulation. Workspace analysis and trajectory planning were performed using Monte Carlo simulations in MATLAB. The simulation results indicate that the manipulator exhibits a feasible crescent-shaped workspace (X∈[10, 50.9] mm, Y∈[5.3, 44.9] mm). The motion trajectories of all joints were observed to be continuous and smooth, without any abrupt changes. Subsequent validation through ADAMS simulations confirmed the smooth variation of joint torques. This study provides a theoretical foundation and offers practical insights for the development and precise control of specialized instruments for neuroendoscopic surgery.