提出快速径向波束成形技术，实现标准超声设备上的实时声速成像。

Pulse-echo speed-of-sound (SoS) imaging based on minute misalignments between consecutively acquired ultrasound images traditionally relies on images beamformed on Cartesian grids. Existing SoS imaging developments do not allow for real-time imaging and typically do not prioritize feasibility in conventional ultrasound systems that have limited resources and rigid processing structures. In this work, we propose a resource-efficient approach based on radial beamforming with virtual source transmits for implementation within an on-the-fly beamformer. We also introduce alternating transmissions with fast pair-alternating beamforming for motion-robust displacement tracking with typical line-based beamformers. We tested these methods comparatively on numerical simulations, tissue-mimicking phantom experiments, and in vivo data from breast lesion examinations. We demonstrate that the proposed radial grid beamforming approach performs comparably to a Cartesian grid approach, while allowing implementation on standard hardware for beamforming. Our proposed sequences would allow for SoS data acquisition frame rates of more than 20 fps in parallel to conventional B-mode imaging. The proposed speckle-shift based radial approach with fast alternation between congruent beamforming lines is a major step towards real-time SoS imaging on standard ultrasound systems with moderate resources.