A system , comprising: a mobile base ; a gantry with an x-ray source and an x-ray detector mounted thereon opposite each other; a carrier coupled to the gantry and configured to rotate the gantry relative to the carrier ; a robotic arm coupling the carrier to the mobile base , the robotic arm comprising at least first to third links and first to fourth joints ; and a torque balancing system for countering static torques generated by a configuration of the at least first to third links of the robotic arm , the gantry , and the base , the torque balancing system comprising: first to third springs ; 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 ; a gantry with an x-ray source and an x-ray detector mounted thereon opposite each other; a carrier coupled to the gantry and configured to rotate the gantry relative to the carrier ; a robotic arm coupling the carrier to the mobile base , the robotic arm comprising at least first to third links and first to fourth joints ; and a torque balancing system for countering static torques generated by a configuration of the at least first to third links of the robotic arm , the gantry , and the base , the torque balancing system comprising: first to third springs ; 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 ; 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. <EOS>