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To bridge the gap between preoperative planning and intraoperative execution, we present ARport, an augmented reality (AR) system that automatically maps pre-planned trocar layouts onto the patient\u2019s body surface , providing intuitive spatial guidance during surgical preparation.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Methods<\/jats:title>\n                    <jats:p>\n                      ARport, implemented on an optical see-through head-mounted display (OST-HMD), operates without any external sensors or markers, simplifying setup and enhancing workflow integration. It reconstructs the operative scene from RGB, depth, and pose data captured by the OST-HMD, extracts the patient\u2019s body surface using a foundation model, and performs surface-based markerless registration to align preoperative anatomical models to the extracted patient\u2019s body surface, enabling in situ visualization of planned trocar layouts. A\n                      <jats:ext-link xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" xlink:href=\"https:\/\/zhenghan98.github.io\/video_demo\/ARport\/demo.mp4\" ext-link-type=\"uri\">demonstration video<\/jats:ext-link>\n                      illustrating the overall workflow is available online.\n                    <\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Results<\/jats:title>\n                    <jats:p>In full-scale human phantom experiments, ARport accurately overlaid pre-planned trocar sites onto the physical phantom, achieving consistent spatial correspondence between virtual plans and real anatomy.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title>Conclusion<\/jats:title>\n                    <jats:p>ARport provides a fully marker-free and hardware-minimal solution for visualizing preoperative trocar plans directly on the patient\u2019s body surface. The system facilitates efficient intraoperative setup and demonstrates potential for seamless integration into routine clinical workflows.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1007\/s11548-026-03746-5","type":"journal-article","created":{"date-parts":[[2026,8,14]],"date-time":"2026-08-14T08:05:47Z","timestamp":1786694747000},"page":"1639-1647","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["ARport: an augmented reality system for markerless image-guided port placement in robotic surgery"],"prefix":"10.1007","volume":"21","author":[{"given":"Zheng","family":"Han","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zixin","family":"Yang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yonghao","family":"Long","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Lin","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Peter","family":"Kazanzides","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3416-9950","authenticated-orcid":false,"given":"Qi","family":"Dou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2026,8,14]]},"reference":[{"issue":"4\u20135","key":"3746_CR1","doi-asserted-by":"publisher","first-page":"539","DOI":"10.1177\/0278364904042205","volume":"23","author":"\u00c8 Coste-Mani\u00e8re","year":"2004","unstructured":"Coste-Mani\u00e8re \u00c8, Adhami L, Mourgues F, Bantiche O (2004) Optimal planning of robotically assisted heart surgery: first results on the transfer precision in the operating room. 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