An instrument positioning system and an instrument positioning method are disclosed. The instrument positioning method includes: capturing an image inside a training box to generate image data identifying the image data to calculate a 3D coordinate of a mark on a clamp when the clamp of an instrument is inserted into the inside of the training box sensing an angular momentum of the instrument to calculate a three-axis rotation amount sensing an opened-closed extent of the clamp to calculate an opened-closed angle and transmitting the three-axis rotation amount and the opened-closed angle calculating and converting into a virtual image corresponding to the clamp inserted into the inside of the training box according to the 3D coordinate, the three-axis rotation amount, and the opened-closed angle.一種器械定位系統及器械定位方法在此揭露。器械定位方法包含:擷取訓練箱內部之影像以產生影像資料;當器械之夾具伸入至訓練箱內部時,辨識影像資料以計算出夾具上之標記的三維座標;感測器械之角動量以計算三軸轉動量;感測夾具的開闔程度以計算開闔角度;傳輸三軸轉動量及開闔角度;基於三維座標、三軸轉動量及開闔角度以計算並轉換出相應於夾具伸入至訓練箱內部時的虛擬影像。110‧‧‧訓練箱120‧‧‧器械121‧‧‧夾具122‧‧‧標記123‧‧‧把手124‧‧‧彎曲電阻125‧‧‧感測模組126‧‧‧無線傳輸模組127‧‧‧光源131、132‧‧‧影像擷取裝置140‧‧‧虛擬影像成像裝置150‧‧‧虛擬影像顯示裝置
