Minimally invasive catheter relates to the field of eversible catheters. It is primarily intended for use as a urinary catheter, but is also usable in other fields. As a urinary catheter this minimally invasive catheter 1 used as an indwelling or intermittent catheter with transurethral or suprapubic approach. This catheter has specific technical solution for eversible motion where tubular membrane 2, attached between distal part 36a of the handle 36 and distal part 3a of the inner tube 3, can in one case free slide between these two parts and in another be fixed to form hermetically sealed space 14. Free sliding of membrane ensures eversible principle of motion during placement and withdrawal of the catheter 1. Fixation of membrane allows a formation of hermetically sealed space 14 with fluid to make catheter surface smoother and softer, and a balloon 33 to hold catheter 1 in place for prolonged period of time. Thus, present invention provides a urinary catheter that enables the reduced incidence of complications arising due to its application.