Abstract: Disclosed are various real-time robotic-assisted dimension measurement systems and techniques based on the collected kinematic data from one or more surgical tools within a robotic surgical system. In some embodiments, the collected kinematic data can include positions and orientations of each joint of the one or more surgical tools which are derived from positions and orientations of a set of arm joints of one or more robotic arms which the one or more surgical tools are attached to. The disclosed dimension measurement systems allow a surgeon to perform real-time length measurements of both straight-lines and curved-lines, as well as area and volume measurements on specified portions of tissues or organs by strategically placing the tips of the one or more surgical tools over the tissues or organs, while viewing the distal ends of the surgical tools in a user display.