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This is Dr. David
I am a cancer doctor.
this would not be penile cancer. you would be able to see skin lesions and a skin mass which would be skin cancer.
there are no other tests for penile cancer except a skin biopsy
and you don't need a skin biopsy if there is nothing to biopsy.
I agree with your urologist.
are you washing your penis and foreskin daily with mild soap and water daily?
you should be using a mild soap like Dove.