This work presents the design, prototyping, and experimental validation of a novel dexterous surgical manipulator based on a modular backbone architecture, developed as a proof of concept for interventions in confined workspaces. Minimally Invasive Surgery (MIS) in restricted anatomical spaces requires instruments capable of navigating tortuous paths while maintaining structural stability. To address this challenge, the structure of the manipulator relies on the serial repetition of two distinct trapezoidal-shaped monomeric units, characterized by two different geometric rotations. The architecture consists of an alternating series of these 3D-printed components, divided into the taxonomy of male blocks and female trapezoidal semi-blocks, designed to determine the degrees of freedom and mechanically guide the flexion of the system.