An iterative method of computing time delay values for ultrasound receive beamforming. Sensing signals are generated by transducer elements in a transducer array which detect reflected sound waves from a target tissue region for a time sample (n) for a first focal point and at a later time sample (n+1) for a second focal point. Respective time delays are calculated for time sample (n) for sensing signals received from the transducer elements for focusing the reflected sound waves from the first focal point. For the later time sample (n+1), respective time delays are calculated for the sensing signals received from the transducer elements for focusing the reflected sound waves from the second focal point, wherein the respective time delays for time sample (n+1) are computed iteratively from the respective time delays for time sample (n).
