The application of video see-through augmented reality (VST-AR) navigation in laparoscopic surgery helps visualize key anatomical structures that are hidden, which can enhance the surgeon's intraoperative perception and improve the safety of the surgery. This paper presents a VST-AR navigation system based on virtual markers and SLAM to solve the problems in practical applications, such as the lack of camera motion tracking, the reliance on manual registration of virtual 3D models, and invasive markers. The concept of virtual markers is introduced to achieve registration of the virtual 3D model to the real scene. SLAM-based technology enables laparoscope pose tracking and simultaneous updating of the virtual laparoscopic viewpoint through feature points of the patient's body surface. The method allows a multi-view perspective display of virtual 3D anatomical structures without invasive marker points. Quantitative assessment on performance of the proposed navigation system is performed by surgeons on a gallbladder model to determine its accuracy and potential for clinical application. Experimental results show that the system can locate key anatomical structures. The proposed navigation system enables effective guidance of key anatomical structures and improves the accuracy and success rate of laparoscopic procedures.