The urinary system regulates blood composition and excretes waste through the kidneys, ureters, bladder and urethra. The kidneys filter blood to form urine and regulate electrolyte and fluid levels. Urine passes from the kidneys through the ureters to the bladder, where it is temporarily stored until urination. During urination, urine exits the body through the urethra under control of sphincter muscles. The urinary system helps maintain homeostasis by regulating water balance and removing toxins and wastes from the bloodstream.