The idea of moving the slicing axis to one end is a good one. Various numpy functions use that idea.
In [171]: arr = np.ones((2,3,4,5),int)
In [172]: arr[0,0,:,0].shape
Out[172]: (4,)
In [173]: arr[0,:,0,0].shape
Out[173]: (3,)
Another idea is to build a indexing tuple:
In [176]: idx = (0,0,slice(None),0)
In [177]: arr[idx].shape
Out[177]: (4,)
In [178]: idx = (0,slice(None),0,0)
In [179]: arr[idx].shape
Out[179]: (3,)
To do this programmatically it may be easier to start with a list or array that can be modified, and then convert it to a tuple for indexing. Details will vary depending on how you prefer to specify the axis and variables.
If any of a,b,c are arrays (or lists), you may get some shape surprises, since it's a case of mixing advanced and basic indexing. But as long as they are scalars, that's not an issue.