Yes. The process is known as natural cycle intrauterine insemination. It involves monitoring when ovulation is going to take place naturally through ultrasound scan in order for the insemination to be done on the same day or the previous day.
The chances of success are almost the same as those achieved with sexual intercourse, perhaps a little bit higher due to sperm capacitation.
Suggested for you: The Intrauterine Insemination (IUI) Process Step by Step.