Hopefuly in future catheterisation would be done by an experienced nurse, such as an Incontinence Nurse. Practise makes perfect, this is something that doctors don't do very often. It's the same with injections - years ago I had four years worth of desentitising injections for allergies. One a week for three months!
The doctor was hopeless at it and th ejabs were always painful (and he broke the syringe twice and dropped the bottle of stuff once as well). With the nurse I hardly noticed them.
Unfortunately catheters are more difficult and painful for men, for obvious reasons.
Catheters inserted temporarily to relieve a short-term problem are known as intermitten catheters. Sometimes pateitns are taught how to do this for themselves.
Long-term catheters, which can stay in place for weeks or even months, are called indwelling catheters. They are held in place by a balloon filled with water which stays inside the bladder. However, they have a higher risk of causing problems like infections. These are also sometimes called Foley catheters or Foleys.
Lastly, there is the suprapubic catheter. These work by putting a tube directly into the bladder via a hole made in the abdomen, a surgical procedure. These are onl yused if the other types cannot be for some reason.