A system is described in which the volume flow rate of blood in a vessel is determined using transverse colour Doppler ultrasound imaging. The system measures rapidly the two-dimensional velocity profile of blood flowing through a vessel. By integration of the measured velocity profiles the volume flow rate of blood in the vessel is obtained. The Doppler angle is obtained from the included angle between two imaging planes, and their respective average measured flows. This technique yields instantaneous and average flow rate in real time, and permits long flow recordings to be made and stored digitally. The error is less than 5% over a 8:1 flow rate range.