Hearing loss, often caused by spiral ganglion neuron damaged in the cochlea, can be addressed with cochlear implants that convert sound energy into electrical energy to stimulate the auditory nerve, requiring precise electrode array placement for optimal performance. While robotic surgery has gained significant attention, a unique 6 Degrees of Freedom (6-DOF) 3-PRRS Parallel Manipulator (PM), is proposed. The PM features three active translational and rotational movements, with its three symmetrical legs that enable precise electrode insertion into cochlea. The comprehensive analysis presented in this paper consists of kinematics, workspace and singularity to determine the performance of the design. The designs are evaluated analytically, numerically and simulations using MATLAB and results show that the PM can achieve precise joint angle computation, various height along z-axis and optimized workspace. This system offers a compact workspace ideal for the delicate task of electrode placement within the cochlea.