The document discusses the innervation of the urinary bladder. It describes how the bladder develops from three sources and its anatomy. The bladder has a detrusor muscle layer and two sphincters. Micturition is controlled by higher cortical and brainstem centers that coordinate sympathetic, parasympathetic, and somatic nerve pathways. The sympathetic pathway relaxes the detrusor and contracts the internal sphincter during bladder filling. The parasympathetic pathway contracts the detrusor and relaxes the internal sphincter during voiding. The somatic pathway controls the external urethral sphincter voluntarily. Neurogenic bladder can occur due to nerve damage and is classified based on the lesion level.