Is inserting a catheter considered an invasive procedure?

Yes, inserting a catheter is considered an invasive procedure.

Urinary catheterization is the insertion of a tube into the bladder through the urethra to drain urine from the body. It is a widely performed medical procedure, but because it involves breaking the body's natural barriers through the insertion of a medical instrument into a usually sterile body cavity, it is classified as an invasive procedure. Invasive procedures carry a risk of infection, tissue damage, and discomfort, and should only be performed by trained medical professionals.