The invention provides a photon Radar/PET shared SiPM development method and instrument. The method comprises the steps of: controlling the output of a signal, enabling a laser to emit a laser pulse to a to-be-detected target object and injecting a tracer drug, enabling the laser to rotate in all directions to cover all scanning areas and generating gamma photon pairs by positron annihilation, enabling a SiPM array to convert a reflection pulse into an electric signal, converting the gamma photon pair into scintillation pulses and transmitting the scintillation pulses to a storage module, pre-filtering an analog electric pulse, converting the analog electric pulse into a digital signal, and extracting time information, energy information, position information and depth information of the digital signal, and performing reconstructing according to the information, and displaying a reconstructed image. A micro motion of the to-be-detected target object can be identified and used for imaging, the resolution performance of the system is effectively improved, the error caused by the micro motion of the object is eliminated, and the imaging time is significantly shortened.