The urinary system consists of the kidneys, ureters, urinary bladder, and urethra. The kidneys filter waste from the blood to produce urine, which travels through the ureters into the bladder. The bladder stores urine and empties through the urethra when full. The kidneys, ureters, and bladder are lined with transitional epithelium and have layers of smooth muscle to propel urine downstream. The urethra carries urine from the bladder to exit the body.