We focus on a type of circular restricted five-body problem in which four primaries with equal masses form a regular tetrahedron configuration and circulate uniformly around the center of mass of the system. The fifth particle, which can be regarded as a small celestial body or probe, obeys the law of gravity determined by the four primaries. The geometric configuration of zero-velocity surfaces of the fifth particle in the three-dimensional space is numerically simulated and addressed. Furthermore, a transfer trajectory of the fifth particle skimming over four primaries then is designed.