The urinary system consists of the kidneys, ureters, urinary bladder, and urethra. The kidneys filter the blood and produce urine, which travels through the ureters into the bladder. When the bladder fills, urine is excreted through the urethra. The kidneys regulate water and ion levels in the blood and remove wastes via specialized nephrons that filter the blood, reabsorb necessary components, and produce urine for excretion.