We give a categorical setting in which Penrose graphical calculus naturally
extends to graphs drawn on the boundary of a handlebody. We use it to
introduce invariants of 3-manifolds presented by Heegaard splittings. We recover
Kuperberg invariants when the category comes from an involutory Hopf
algebra and Turaev–Viro invariants when the category is semisimple and
spherical.