Bioimpedance measurements are currently used to monitor various biological processes and are potentially useful for studies of urodynamics. Global impedance (GI) and focused impedance measurements (FIM) can be used to monitor bladder volumes, but these are subject to varying conductivity of urine. To address this, we emulated a human bladder using an agar phantom filled with saline solutions of varying conductivities and estimated volumes using a modified FIM-based approach. Using this novel strategy, electrical potentials did not change significantly with constant liquid volumes, even when the conductivity of the saline solutions was varied between 1.027 to 1.877 and 2.610 S/m. Conversely, GI and classic FIM measurements of constant liquid volumes varied with conductivity. These observations suggest that the proposed FIM approach is suitable for bladder volume estimation due to its robustness against uncertainties of conductivity. The bioimpedance hardware used in our experiments comprised 8 electrodes and a a small and low cost impedance measurement system based on an AFE4300 direct impedance measurement device.