The human urinary system consists of the kidneys, ureters, urinary bladder, and urethra. The kidneys filter waste from the blood to produce urine. Each kidney contains millions of nephrons, the functional units that filter blood. Nephrons are composed of a glomerulus for blood filtration and a tubule for urine production and transport. Urine travels from the nephrons through the ureters to the urinary bladder for storage, then exits through the urethra.