The excretory system collects and removes wastes from the body through urine and feces. It includes the kidneys, ureters, urinary bladder, and urethra. The kidneys contain nephrons that filter wastes from the blood to produce urine, which contains urea and other toxins. The urine flows from the kidneys through the ureters to the bladder, where it is stored until exiting the body through the urethra.