A localization system, comprising: a magnetic fiducial marker; a delivery tool configured to deploy the magnetic fiducial marker therefrom, the delivery tool comprising: an elongate housing defining a longitudinally-extending passageway therethrough, the passageway having a proximal section and a distal section, the distal section having the magnetic fiducial marker removably received therein; and a pusher rod received in and axially movable through the elongate housing, the pusher rod having a proximal end configured to be manipulated by a clinician or robot, and a distal end disposed within the housing adjacent a proximal end of the magnetic fiducial marker, whereby distal movement of the pusher rod through the elongate housing advances the magnetic fiducial marker out of the delivery tool; and a localization tool having a magnetic portion configured to attract the magnetic fiducial marker, characterized in that the delivery tool further comprises a permanent magnet that is axially restrained within the proximal section of the passageway, a distal end of the permanent magnet having an opposite magnetic polarity to a proximal end of the magnetic fiducial marker, whereby the magnetic attraction between the permanent magnet and the magnetic fiducial marker maintains the magnetic fiducial marker within the delivery tool until a threshold, distally-oriented force is exerted on the magnetic fiducial marker by the pusher rod. a magnetic fiducial marker; a delivery tool configured to deploy the magnetic fiducial marker therefrom, the delivery tool comprising: an elongate housing defining a longitudinally-extending passageway therethrough, the passageway having a proximal section and a distal section, the distal section having the magnetic fiducial marker removably received therein; and a pusher rod received in and axially movable through the elongate housing, the pusher rod having a proximal end configured to be manipulated by a clinician or robot, and a distal end disposed within the housing adjacent a proximal end of the magnetic fiducial marker, whereby distal movement of the pusher rod through the elongate housing advances the magnetic fiducial marker out of the delivery tool; and an elongate housing defining a longitudinally-extending passageway therethrough, the passageway having a proximal section and a distal section, the distal section having the magnetic fiducial marker removably received therein; and a pusher rod received in and axially movable through the elongate housing, the pusher rod having a proximal end configured to be manipulated by a clinician or robot, and a distal end disposed within the housing adjacent a proximal end of the magnetic fiducial marker, whereby distal movement of the pusher rod through the elongate housing advances the magnetic fiducial marker out of the delivery tool; and a localization tool having a magnetic portion configured to attract the magnetic fiducial marker, characterized in that the delivery tool further comprises a permanent magnet that is axially restrained within the proximal section of the passageway, a distal end of the permanent magnet having an opposite magnetic polarity to a proximal end of the magnetic fiducial marker, whereby the magnetic attraction between the permanent magnet and the magnetic fiducial marker maintains the magnetic fiducial marker within the delivery tool until a threshold, distally-oriented force is exerted on the magnetic fiducial marker by the pusher rod.