Globally, the minimally invasive surgery (MIS) has been applied to more and more medical fields. The traditional endoscopes are adopted to help the surgeon to get the field of view (FOV) inside the body cavity. But it will also cause the problem of port-crowing and instrument-fencing which will interfere with the operation. This article proposed a magnetic anchored and cable driven endoscope for minimally invasive surgery to address these problems. This system mainly consists of two parts, the external unit and internal unit. The external unit contains one external permanent magnet (EPM) and its holding device. The internal unit is composed of one internal permanent magnet (IPM), one cable-driven mechanism, and a camera. The magnetic coupling between the EPM and IPM can actuate the internal endoscope to perform the translation motion and pan motion. And the flexible link can provide additional DOF to cover sufficient FOV for the surgeon in MIS. The force situation and kinematics are modeled based on the magnetic dipole theory and flexible mechanism. Preliminary experiments were conducted to validate the feasibility and clinical potential of the system. In the future, more experiments and tests need to be done to verify the accuracy of the modeling and the practicability in real clinical application. Also, the control algorithm will be developed to realize the visual servoing task which can help doctors perform the surgery more conveniently.