One aspect of the invention provides an autonomous continuous bladder irrigation device including: a color sensor programmed to detect a color of outflow from a catheter an occlusion unit programmed to adjustably occlude a lumen providing irrigation to the catheter and a controller in communication with the color sensor and the occlusion unit and programmed to control the occlusion unit to titrate irrigation flow to the catheter based on the color detected by the color sensor in order achieve a specified color of outflow from the catheter.
