Colorectal cancer is one of the most common cancers, affecting both men and women. Each year nearly 50,000 patients in the US alone undergo partial colectomies for polyps which otherwise could have been removed endoscopically. The adoption of endoscopic procedures is greatly hindered by the limited dexterity of available, rigid endoscopic tools. We propose an endoscopically deployable, flexible robotic system which will allow for greater dexterity. In this paper, we computationally analyze design variables to determine the relationship between the robot design parameters and a target workspace. We find that higher maximum curvature and a longer proximal setup sheath with a shorter distal setup sheath allows for more voxels to be reached. Proceeding with the resulting design parameters of tubes, we can continue work on modeling, actuation, and control of the robotic manipulators. Building on this work, we ultimately hope to realize the potential benefits of ESD to reduce the number of unnecessary invasive colectomies as well as reduce the risk of infection, reoccurrence, and other adverse events.