A magnetic resonance (MR) imaging system includes: a main magnet configured to generate a volume of magnet field suitable for forming MR imaging; a transmit radio frequency (RF) coil assembly configured to transmit at least one RF signal; a receive radio frequency (RF) coil assembly configured to, in response to the at least one RF pulse, receive MR signals; a gradient coil assembly comprising (i) windings of coils arranged in a radial layer, and (ii) a first set of connectors embedded in the radial layer to reduce a radial extent occupied by the gradient coil assembly, the first set of electrical connectors configured to drive the windings of coils; and a control unit coupled to the transmit RF coil assembly, the receive RF coil assembly, and the gradient coils, the control unit configured to synchronously operate the gradient coil assembly, the transmit coil assembly, and the receive coil assembly.