Employing Y- and Z-axis servo drives, 14-color KE13 servo-driven, circumferential catheter printer allows for various diameter tubes to be programmed along with appropriate stroke depth. Catheter bed is positioned via 2-position pneumatic actuator, and adjustable vacuum control allows for holding each tube diameter and length. Two linear pads in excess of 1,000 mm long can be compressed, and pads fan out pneumatically to allow sufficient spacing to accommodate possible pick up of colors.