In intensive care units (ICUs), after endotracheal intubation, the position of the endotracheal tube (ETT) should be checked to avoid complications. The malposition can be detected by the distance between the ETT tip and the Carina (ETT–Carina distance). However, it struggles with a limited performance for two major problems, i.e., occlusion by external machine, and the posture and machine of taking chest radiographs. While previous studies addressed these problems, they always suffered from the requirements of manual intervention. Therefore, the purpose of this paper is to locate the ETT tip and the Carina more accurately for detecting the malposition without manual intervention. The proposed architecture is composed of FCOS: Fully Convolutional One-Stage Object Detection, an attention mechanism named Coarse-to-Fine Attention (CTFA), and a segmentation branch. Moreover, a post-process algorithm is adopted to select the final location of the ETT tip and the Carina. Three metrics were used to evaluate the performance of the proposed method. With the dataset provided by National Cheng Kung University Hospital, the accuracy of the malposition detected by the proposed method achieves $88.82\%$ and the ETT–Carina distance errors are less than $5.333\pm 6.240$ mm.