Passive acoustic mapping enables the spatial mapping and temporal monitoring of cavitation activity, playing a crucial role in therapeutic ultrasound applications. Most conventional beamforming methods, whether implemented in the time or frequency domains, suffer from limited axial resolution due to the absence of a reference emission onset time. While frequency-domain methods, the most efficient of which are based on the cross-spectral matrix, require long signals for accurate estimation, time-domain methods typically achieve lower spatial resolution. To address these limitations, we propose a linear model-based beamforming framework fully formulated in the time domain. The linear forward model relates a discretized spatiotemporal distribution of cavitation activity to the temporal signals recorded by a probe, explicitly accounting for time-of-flight delays dictated by the acquisition geometry. This model is then inverted using regularization techniques that exploit prior knowledge of cavitation activity in both spatial and temporal domains. Experimental results show that the proposed framework achieves enhanced or competitive cavitation map quality while using only 20\% of the data typically required by frequency-domain methods. This highlights the substantial gain in data efficiency and the flexibility of our spatiotemporal regularization to adapt to diverse passive cavitation scenarios, outperforming state-of-the-art techniques.

Passive acoustic mapping (PAM) is a promising tool for monitoring acoustic cavitation activities in the applications of ultrasound therapy. Data-adaptive beamformers for PAM have better image quality compared to the time exposure acoustics (TEA) algorithms. However, the computational cost of data-adaptive beamformers is considerably expensive. In this work, we develop a deep beamformer based on a generative adversarial network, which can switch between different transducer arrays and reconstruct high-quality PAM images directly from radio frequency ultrasound signals with low computational cost. The deep beamformer was trained on the dataset consisting of simulated and experimental cavitation signals of single and multiple microbubble clouds measured by different (linear and phased) arrays covering 1-15 MHz. We compared the performance of the deep beamformer to TEA and three different data-adaptive beamformers using the simulated and experimental test dataset. Compared with TEA, the deep beamformer reduced the energy spread area by 18.9%-65.0% and improved the image signal-to-noise ratio by 9.3-22.9 dB in average for the different arrays in our data. Compared to the data-adaptive beamformers, the deep beamformer reduced the computational cost by three orders of magnitude achieving 10.5 ms image reconstruction speed in our data, while the image quality was as good as that of the data-adaptive beamformers. These results demonstrated the potential of the deep beamformer for high-resolution monitoring of microbubble cavitation activities for ultrasound therapy.