An imaging fiducial marker includes a plurality of marker structures and a connection structure that linearly, curvilinearly, or angly, affixes the plurality of marker structures. The imaging fiducial marker is formed from materials having at least two different radiopacities. Each different radiopacity is separately distinguishable during medical imaging, and the connection structure is distinguishable from the plurality of marker structures during medical imaging. The imaging fiducial marker is arranged for implantation in vivo within soft tissue. Deploying the imaging fiducial marker includes identifying a soft tissue area in a patients body where the marker will be placed in vivo and deploying the marker in the identified soft tissue area.
