Science, technology and innovation are important issues related to national development and world progress. However, there is still a lack of research on the linkage and evolution of science-technology-innovation. We used the data of FDA-approved drugs (1949-2022) in the Orange Book, back-traced the relevant patents and their non-patent references, and established drug-patent-paper citation pairs and citation networks. We used citation characteristics to analyze the network structure, strength, speed and their evolution among science-technology-innovation. In addition, we used text features to analyze the topic linkage, topic evolution path and evolution mode among science-technology-innovation. It is suggested that the linkage between science-technology-innovation increased and became closer from 1949-2022. The strength of the linkage increased, but the speed of the linkage tended to slow down. we found that the cross-integration and fragmentation of topics promote the linkage between science-technology-innovation knowledge more closely.