A system (100, 200, 800, 1400), comprising: a mobile base (140, 240, 840); a gantry (110, 210) with an x-ray source (105, 205) and an x-ray detector (107, 207) mounted thereon opposite each other; a carrier (111, 212, 812) coupled to the gantry (110, 210) and configured to rotate the gantry (110, 210) relative to the carrier (111, 212, 812); a robotic arm (120, 220, 820) coupling the carrier (111, 212, 812) to the mobile base (140, 240, 840), the robotic arm (120, 220, 820) comprising at least first to third links (221, 224, 228, 821, 824, 828) and first to fourth joints (222, 225, 227, 230, 825, 827, 830); and a torque balancing system (180, 272, 801) for countering static torques generated by a configuration of the at least first to third links (221, 224, 228, 821, 824, 828) of the robotic arm (120, 220, 820), the gantry (110, 210), and the base (140, 240, 840), the torque balancing system (100, 200, 800, 1400) comprising: first to third springs (802, 804, 806); a first bar extending from the second joint, the second joint being between the first link and the second link; a second bar extending from the third joint, the third joint being between the second link and the third link; and a third bar extending from the third joint, wherein: the first bar is coupled to the second bar via a first mechanical link; the third bar is coupled to the mobile base via a second mechanical link; the first spring couples the first link to the first bar to provide a first balancing torque; the second spring couples the second link to the second bar to provide a second balancing torque; and the third spring couples the third link to the mobile base to provide a third balancing torque. a mobile base (140, 240, 840); a gantry (110, 210) with an x-ray source (105, 205) and an x-ray detector (107, 207) mounted thereon opposite each other; a carrier (111, 212, 812) coupled to the gantry (110, 210) and configured to rotate the gantry (110, 210) relative to the carrier (111, 212, 812); a robotic arm (120, 220, 820) coupling the carrier (111, 212, 812) to the mobile base (140, 240, 840), the robotic arm (120, 220, 820) comprising at least first to third links (221, 224, 228, 821, 824, 828) and first to fourth joints (222, 225, 227, 230, 825, 827, 830); and a torque balancing system (180, 272, 801) for countering static torques generated by a configuration of the at least first to third links (221, 224, 228, 821, 824, 828) of the robotic arm (120, 220, 820), the gantry (110, 210), and the base (140, 240, 840), the torque balancing system (100, 200, 800, 1400) comprising: first to third springs (802, 804, 806); a first bar extending from the second joint, the second joint being between the first link and the second link; a second bar extending from the third joint, the third joint being between the second link and the third link; and a third bar extending from the third joint, wherein: the first bar is coupled to the second bar via a first mechanical link; the third bar is coupled to the mobile base via a second mechanical link; the first spring couples the first link to the first bar to provide a first balancing torque; the second spring couples the second link to the second bar to provide a second balancing torque; and the third spring couples the third link to the mobile base to provide a third balancing torque. first to third springs (802, 804, 806); a first bar extending from the second joint, the second joint being between the first link and the second link; a second bar extending from the third joint, the third joint being between the second link and the third link; and a third bar extending from the third joint, wherein: the first bar is coupled to the second bar via a first mechanical link; the third bar is coupled to the mobile base via a second mechanical link; the first spring couples the first link to the first bar to provide a first balancing torque; the second spring couples the second link to the second bar to provide a second balancing torque; and the third spring couples the third link to the mobile base to provide a third balancing torque. the first bar is coupled to the second bar via a first mechanical link; the third bar is coupled to the mobile base via a second mechanical link; the first spring couples the first link to the first bar to provide a first balancing torque; the second spring couples the second link to the second bar to provide a second balancing torque; and the third spring couples the third link to the mobile base to provide a third balancing torque.