The urinary system consists of the kidneys, ureters, bladder, and urethra. The kidneys filter waste from the blood to produce urine. Each kidney contains around 1 million nephrons, the functional units of the kidney. Nephrons filter blood in the glomerulus and remove waste while reabsorbing useful substances. Hormones regulate urine concentration and volume. Urine is stored in the bladder and expelled through the urethra in a process called micturition.