insert or touchin private part

Assalamu Alaikum. Can i insert my right hands finger into my wife vagina? Is it permissible to finger with the right hand if vaginal fluid (Madhy/Semen) comes out of the vagina while fingering the wife? The right hand can be stimulated better than the left hand. So can a husband and wife touch each other's private part with the right hand, even if there is semen or impure fluid in the genitals?