This paper introduces a novel robotic instrument designed specifically for minimally invasive esophagectomy, aiming to enhance surgical precision, reduce patient recovery time, and improve overall outcomes. Esophagectomy, while critical for treating esophageal cancer and other serious disorders, presents significant challenges, particularly in achieving optimal visualization and maneuverability within the confines of the thoracic cavity. Current surgical techniques often necessitate larger incisions, leading to longer recovery times and increased postoperative complications. The instrument proposed in this paper aims at solving some of the issues detected within the previously developed instruments. The approach targets a parametric design which can be used in an ergonomic solution, tailored to specific thoracic procedures. The workspace parameters are determined and through a set of functions, these are used to conduct the basic design, aiming to offer enhanced dexterity and the required range of motion to safely and efficiently perform the surgical procedure.