Based on experiences in my family, yes, by all means, DO see another doctor. Before you consider suing for anything, you would need to make sure you have addressed the problem with your current doctor. You must be shown to have behaved reasonably and to have attempted to correct the situation before you start suing anybody. You don't want him to say, "But I didn't even know there was a problem! I could've fixed it! "
But then, I would still strongly encourage you to get a second opinion, see another doctor. I certainly empathize with your not liking your urologist! Particularly in this field, the technologies and treatment procedures change, sometimes the more experienced and highly, highly recommended doctors are more comfortable with some of the older procedures and continue to use them, while a doctor with a different perspective may have a much more successful and less painful way to do things. This was certainly what we found with urologists, To quote the new doctor, "You mean he's still doing it THAT way???" You have been traumatized, it may take some time to recover. But don't give up.
However, malpractice is sounding pretty far out in the future if at all in this situation. Most of the attorneys we spoke with about a possible lawsuit after a knee replacement issue wanted very detailed medical histories and records, and things needed to be very clearly established as permanent damage before you are going to be able to start any case, if at all.
And hint, once you start saying anything about malpractice or thinking the first doctor or hospital or anybody made mistakes and you're considering suing, you may limit the number of doctors who will be willing to see you at all. The chances of their having to be deposed in a hearing and having to testify that another doctor, medical practice, or treatment facility messed up do not sound good to them, most of them are not willing if they have any foreknowledge that you're thinking of going in that direction.