Many neurosurgical procedures, such as endoscopic third ventriculostomy (ETV), make use of surgical graspers in which 70% of grasping forces are within the range of 0-0.3N. In this work, we develop a tendon-driven robotic grasper for use in flexible robotic endoscopes. The grasper developed consists of several micromachined linkages and a spring-loaded mechanism with an outer diameter of 1.69mm in its closed configuration to be used in a continuum robotic tool with a 1.93mm outer diameter. Finally, the mechanism's grasping force capabilities are evaluated in an experimental setup.