A surgical instrument includes an elongate tubular member and a metrology system mounted on the elongate tubular member. The metrology system includes a mask, a zoom lens assembly, and a light element. The mask includes patterns to be projected on a surgical site of interest to measure dimensions thereof. The zoom lens assembly includes a plurality of lens elements. At least one lens element of the plurality of lens elements is movable relative to each other. The light element propagates light beams through the mask and the zoom lens assembly to project the patterns of the mask on the surgical site of interest.
