During acquiring images, the equipment is affected by the size of the transducer and other factors which make the images have low contrast and big noise, cannot provide clear imaging basis for medical diagnostic. Scientists have proposed a variety of methods. However, these methods are mostly after-imaging processing algorithms and having a poor real-time performance, unable to meet the real-time endoscopic ultrasound imaging requirements (25 frames/s). Therefore, this paper designs the embedded endoscopic ultrasound real-time image processing system based on lifting Wavelet Transform. And the system processes echo signals of each scan line with wavelet denoising, then obtains two-dimensional ultrasound images after CORDIC algorithm and interpolation processing using the imaging characteristics of circular scan and FPGA pipeline concept. Through building my own endoscopic ultrasound experimental system which makes the chicken tissue imaging use circular scan, the experiments show that the system imaging speed is up to 25 frames /s and SNR improves 3.8 dB, verifying the feasibility of the system.