This disclosure describes devices, systems, and methods related to therapeutic ultrasound. An exemplary system includes a transducer configured to emit therapy ultrasound waves towards a therapy site and an ultrasound imaging device configured to emit plane wave ultrasound waves towards the therapy site. The system further includes a controller coupled to the transducer and the ultrasound imaging device. The controller is configured to send an activation signal to the transducer and send an activation signal to the ultrasound imaging device. The controller is further configured to receive image data from the ultrasound imaging device and generate bubble cloud image data based on the received image data.