<p>Microsurgical manipulators enable delicate microscale procedures such as subretinal injection beyond the physical limitations of the human hand. However, existing manipulators often rely on large, complex metal structures typically 200–400 mm long and weighing 300 g to 3 kg that are difficult to integrate into space-constrained operating rooms and may increase the risk of accidental contact with surrounding tissues or surgical instruments. Origami-inspired robotic manipulators offer miniaturization, precision, and simplified fabrication, thereby addressing the constraints of conventional metal-based manipulators. Yet, their simple, flexible structures limit force amplification and hinder compliance with clinical requirements. Herein, we present the Origanoid, an origami-inspired manipulator fabricated from common plastics; it is compact (160 × 50 × 50 mm), lightweight (17.9 g), achieves a motion precision of 12 µm, and delivers forces up to 550 mN, covering the force range required for subretinal interventions. The Origanoid meets key clinical requirements, including sterilizability and emergency tool release within 50 ms, while retaining a simple structure. Successful in vivo subretinal injections mark a transition for origami-inspired manipulators from benchtop studies to preclinical evaluation. These results suggest the potential of this origami-inspired manipulator for high-precision microsurgical procedures, particularly subretinal interventions relevant to cell and gene therapies.</p>