Neurosurgical procedures like cerebral vascular bypass, brain tissue dissection, and neurorrhaphy often lack microsurgical instruments with delicate force perception. To enhance manual precision and tactile force perception during surgery, a novel multi DOFs rope-driven micromanipulation wrist gripper designed was introduced for surgical robots. This wrist gripper was powered by a screw drive controlling six ropes, facilitating dexterous movements at the distal end of miniature instruments. The high gear reduction ratio of the screw drive enhances driving precision, thereby achieving high operational accuracy and stability of the distal wrist gripper. Moreover, a force sensor was integrated between the ropes' rear end and the screw drive to monitor the tension in the ropes in real time. Based on the tension in the ropes, a computational model for estimating the contact force at the distal end of the wrist gripper was proposed, enabling the perception of external contact forces. Experimental results show that under open-loop control, the average motion tracking error of the wrist gripper is less than 1°, and the maximum mean value of force estimation error is 53.85 mN.