A Foley catheter, for example, is a soft, plastic or rubber tube that is inserted into the bladder to drain the urine.Usually your health care provider will use the smallest possible catheter.There are three main types of catheters:Indwelling catheterCondom catheterIntermittent (short-term) catheterINDWELLING URETHRAL CATHETERSAn indwelling urinary catheter is one that is left in the bladder.