I'm concerned about some misinformation here. When a vet takes a urine sample using a needle, the procedure is called a cystocentesis. It is the most sterile way to collect urine, and the most comfortable way for females (over a catheter). I personally insist that each sample be taken by a cystocentesis unless I am catching the urine. Anytime I have a suspicion of a urinary tract infection, I want a very sterile sample so that the urine can be sent to the lab for a culture and if there is infection they can provide the correct antibiotic.
Cystocentesis is safe and is a standard of care provided whenever a sterile sample is needed.
For free catch, I have it down to perfection. I use a small ladle, the kind that you use for a gravy boat. They don't see me coming with it and I don't miss a drop. I place it in urine cups for transport to the vet. I only collect urine this way for one test that one of my dogs needs which specifically doesn't need to be sterile.
For us, it's a bladder poke. I might add that a catheter done on my male dog a few years ago actually caused an infection in his bladder which resulted in expensive vet bills. So it's a cysto for us every time.
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