Sound waves must have a medium to pass through. The velocity or propagation speed is the speed at which sound waves travel through a particular medium measured in meters per second (m/s) or millimeters per microsecond (mm/μs). Because the velocity of ultrasound waves is constant, the time taken for the wave to return to the probe can be used to determine the depth of the object causing the reflection.
The velocity is equal to the frequency x wavelength.
V = f x l
The velocity of ultrasound will differ with different media. In general, the propagation speed of sound through gases is low, liquids higher and solids highest. The speed of sound depends strongly on temperature as well as the medium through which sound waves are propagating. At 0 °C (32 °F) the speed of sound in air is about 331 m/s (1,086 ft/s; 1,192 km/h; 740 mph; 643 kn), at 20 °C (68 °F) about 343 metres per second (1,125 ft/s; 1,235 km/h; 767 mph; 667 kn)

Velocity (m/s)

Doppler ultrasound visualizes blood flow-velocity information. The peak systolic velocity and the end diastolic velocity are major Doppler parameters, which are determined from the spectrum obtained at the point of maximal vessel narrowing. Peak systolic velocity ratios are calculated by dividing the peak-systolic velocity measured at the site of flow disturbance by that measured proximal of the narrowing (stenosis, graft, etc.).

See Acceleration Index, Acceleration Time, Modal Velocity, Run-time Artifact and Maximum Velocity.

Cavitation is any activity of highly compressible transient or stable microbubbles of gas and/or vapour, generated by ultrasonic power in the propagation medium. Cavitation can be described as inertial or non-inertial. Inertial cavitation has the most potential to damage tissue and occurs when a gas-filled cavity grows, during pressure rarefaction of the ultrasound pulse, and contracts, during the compression phase. Collapses of bubbles can generate local high temperatures and pressures. Transient cavitation can cause tissue damage.
The threshold for cavitation is high and does not occur at current levels of diagnostic ultrasound. The introduction of contrast agents leads to the formation of microbubbles that potentially provide gas nuclei for cavitation. The use of contrast agents can lower the threshold at which cavitation occurs.

Types of cavitation:

(dB) A customary logarithmic measure most commonly used (in various ways) for measuring sound. Decibel is a way to express the ratio of two sound intensities: dB=10log10I1/I2 being I1 the reference. If one sound is 1 bel (10 decibel) 'louder' than another, this means the louder sound is 10 times louder than the fainter one. A difference of 20 decibel corresponds to an increase of 10 x 10 or 100 times in intensity.
The intensity of ultrasound decreases during the propagation and is measured in db/cm.
For sound pressure (the pressure exerted by the sound waves) 0 decibel equals 20 microPascal (μPa), and for ultrasonic power 0 decibel sometimes equals 1 picoWatt.

See also dB/dt, Phon, and Logarithms.

The divergence is an ultrasound beam characteristic of the far field. The beam divergence angle q, depends on the transducer frequency and diameter according to the following approximation:
sin q 1.22 ld
where l is the wavelength of the ultrasound in the medium of propagation and d is the diameter of the transducer element.

Fundamental imaging describes ultrasound imaging and Doppler modes in which the received signal is acquired and processed under the assumption of linear propagation and scattering.

See also Contrast Pulse Sequencing.