 Solution

Write $D=\mathbb{H}\setminus K$. The mapping-out function is a conformal map $g_K:D\to \mathbb{H}$ with hydrodynamic normalization at infinityEquivalently, $g_K(z)-z\to 0$. The Riemann mapping theorem gives a map onto the half-plane. Since $K$ is bounded, infinity has an analytic real-boundary neighborhood. After sending its image to infinity, the Schwarz reflection principle gives a Laurent series $az+b+O(z^{-1})$ there, with $a>0$ and $b$ real. A real affine automorphism removes $a$ and $b$, giving the stated normalization. Reflection also makes $a_K$ real.

If $g_1,g_2$ both have this normalization, $g_2{g}_1^{-1}$ is a conformal automorphism of the upper half-plane. Such maps are real Möbius transformations. The expansion forces it to fix infinity, have leading coefficient $1$, and have zero translation. It is therefore the identity. Thus the normalized mapping-out function exists and is unique.