By calculating dynamical structure factor of two-dimensional doped attractive Fermi-Hubbard model with Rashba spin-orbit coupling, we not only investigate collective modes and single-particle excitations of the system during the phase transition between Bardeen-Cooper-Schrieffer superfluid and topological superfluid, but also propose a universal method to measure pairing gap measurement in an optical lattice system. Our numerical results show that the area of the molecular excitation peak at the transferred momentum is proportional to the square of the pairing gap in the system with Rashba SOC. In particular, this method is very sensitive to the pairing gap. This goes on verifying that this method is universal to measure the pairing gap in a doped optical lattice with Rashba SOC. These theoretical results are important for experimentally measuring the pairing gap and studying the topological superfluid in an optical lattice.

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