An everting catheter system which includes an elongated outer catheter having an outer catheter lumen and an opening, an elongated inner catheter movable in the outer catheter lumen and having the inner catheter lumen adapted to receive an elongated instrument and an everting element coupled to the outer catheter and the inner catheter. With movement of the inner catheter in the outer catheter lumen, the everting element can be everted through the opening of the outer catheter. A controller is coupled to the inner catheter for moving the inner catheter in the outer catheter lumen and for moving the instrument in the inner catheter lumen.