How to clean mattress

I think you first try to wipe out/ soak up those urines that penetrates. Then try to steam it with those garment steamer. Then apply baking soda generously on that area, let it sit for probably half an hour to one, then vacuum the excessive baking soda, and wipe clean with a dampen clothes (not all soak). Let it air dry for several hours or days. Spray some febriz or mix of essential oil to get rid of the smell if there's any. Better to get a waterproof mattress protector to avoid the hassle.