A method for positioning an object positioned on a table is provided. The method may include: obtaining a plan image, the plan image illustrating a virtual surface of the object; obtaining, by one or more capture devices, a 3-dimensional (3D) image, the 3D image including a set of elements corresponding to the object; obtaining a registration result by registering the plan image and the 3D image; determining whether the object needs to be moved based on the registration result; and in response to a determination that the object needs to be moved, causing the object to move according to the registration result.