I agree to avoid a domain such as:
domain.com/kidney-dialysis-ckd-dialysis/article
Your article URL will probably include a similar keyword and it does start to get too long/stuffy.
I also agree that you want to setup an internal structure as described: Category > Article Name
Where I differ is by including the category in the URL, I believe it is not needed. Instead, allow the URL to be the article name. Then, structure your website so that you have a strong category page for your main keyword phrase and include links to these articles (and vice-versa) as appropriate.
Your internal link structure will tell Google just how important the main category page is for the main term and your supporting articles will be organized into categories through your UI & navigation structure.
Setting it up this way will inform google how each piece of content is related and still allow for the article to be the main term in the URL structure.
However, this is just a preference. You can include the category in the main URL structure and it may even be a big benefit to your site. I prefer the more direct URLs and enforcing the structure through UI & internal link design - I think it allows for more flexibility and attention on the article's terms.