Maybe explaining some of the terminology in layman terms might help.
VOIP - the overall name for the technology used to digitize analog sound, compress it, and send it in packets (like all data is sent over the internet, as it is not a point-to-point direct connection) and reconstruct those packets on the other end into a usable digital stream that can be converted back into analog sounds (which is what our ears perceive) without getting choppiness, or other major challenges to the sound.
SIP - The protocol (kind of "computer language") used to connect two SIP trunks (SIP does for VOIP what the PSTN does for POTS, i.e. It's the way two end points reach each other in order to open a voice communication channel). A SIP trunk would be the VOIP equivalent of a "last mile" telephone line with a phone number associated with it. The SIP trunk uses a SIP URI where the PSTN would use a phone number (or a PBX would use an extension number).
This is how I understand things. If there are any experts that wish to correct me, I will be happy to learn.