Devices, systems, and methods for measuring the distance and/or depth to a target bone for surgery using a robotic surgical system. The surgical robot system may be configured to depict the distance from a guide tube of the robot to a target bone of a patient as a vector. The vector may represent a view of the guide tube when the guide tube's central axis is coincident with a line of intersection of two viewplanes of a 2D image of the target bone, for example, one viewplane being sagittal and one viewplane being axial.
