The visuo-haptic augmented reality is a new technology that adds haptic perception to augmented reality, which helps to realize the integration of real scenes and virtual objects, as well as the synchronization of vision and touch. This article proposes a new visuohaptic interaction algorithm based on the 3D Systems Touch haptic device. Firstly, an augmented reality environment built on the Marker-SLAM algorithm is adopted to obtain positions and poses of the camera in the map in real time. Secondly, to integrate haptic information into the augmented reality environment, a tracker-free stylus tip pose optimization algorithm is proposed. Finally, the 3D information of the measurement points in the haptic and world coordinate systems is collected respectively. The forward motion model of the haptic device is mapped into the augmented reality space by determining the rigid transformation between the two coordinate systems. The registration accuracy of the tracking registration methods proposed in this article is all above 90% . Different from the tracker-based method, the average error of the corrected position obtained by the pose optimization algorithm in this article is 2. 3±0. 2 mm.