The invention provides a three-dimensional photoacoustic imaging method for improving a limited
visual angle problem. The three-dimensional photoacoustic imaging method comprises the following steps:acquiring related parameters of a
system, calibrating a camera to acquire camera internal parameters and calibrating plate parameters; fixing a calibration plate on one side of the ultrasonic probe, and distributing photoacoustic signals, a counter matrix and
image storage; identifying the calibration plate from the
camera image, and positioning the position of the ultrasonic probe; irradiating the target by using a
light source, receiving the photoacoustic
signal by using a probe, recovering the initial photoacoustic
signal pixel by pixel, and updating the photoacoustic
signal matrix; enveloping the photoacoustic signal matrix according to a time dimension, obtaining a signal value, updating the signal value to a three-dimensional image matrix, and refreshing
image display; gradually moving and rotating the ultrasonic probe to enable the probe to stay at a plurality of positions and angles, and repeating the steps of probe positioning, photoacoustic
signal recovery, image matrix updating, display refreshing and the like.