Robotic Embryo Transfer in Cattle via Endoscopic Teleoperation: A Conceptual System Design with Preliminary in Vivo Validation

Abstract Embryo transfer in cattle is typically performed during diestrus, when the cervix exhibits a highly narrow and tortuous anatomy. As a result, advancing a catheter through the cervix for delivering embryos deep into the uterine horn is technically challenging. Current embryo transfer is generally conducted manually, where the operator inserts one arm into the rectum to grasp and stabilize the cervix via transrectal palpation, while externally manipulating the catheter with the other hand. This workflow relies on indirect haptic cues to guide catheter advancement and prevent cervical injury, rendering procedural success strongly dependent on operator experience. This technical note introduces the concept of robotic embryo transfer in cattle, in which the operator teleoperates an intra-body Embryo Transfer Robot (ETR) using a handheld controller outside the animal, and a robot-mounted endoscope provides real-time visualization for human-in-the-loop manipulation and navigation. The mechanical design tailored to the anatomical dimensions of adult cows' reproductive tract, the corresponding kinematic model for control, and an operational workflow are presented to support practical implementation. A prototype ETR was fabricated and preliminarily validated in live cattle through cervical anchoring and endoscopically guided cervix traversal, demonstrating the initial feasibility of these core transcervical functions. This first step toward robotic embryo transfer in livestock provides an initial engineering foundation for further system development and for future evaluation of its potential to support procedural standardization and reduce dependence on expert operators.