I, too, LOVE being in stirrups, but have yet to be there as often as I need.
However, I did once get to see a female urology nurse practitioner. I had some minor 'symptoms' (smile!), and crave being in the presence of medical females, sorta helplessly, where they have all the control. And any time I can get my urethra violated, I'll be first in line.
Well, I had my visit with her some years ago, and she said 'lets do an exam and check your prostate'. While I was sititng in the exam room, the old style table had stirrups on it, extended. I was fascinated looking at them. But to my surprise, she instructed me to remove pants and underwear, sit between the stirrups, and then lie back. I WAS IN HEAVEN! She helpled me get my knees draped over the stirrups and told me to just let go and relax my legs and bottom. She pulled up a small wheeled stool and sat between my legs...all of this at waist height. She examined my penis and testicles, and then said she was going to examine my prostate. She lubed her finger, and in it went. What surprised me was this... based on mye xperience, it would be easier to access most of the prostate in the prone position (usually men bending over). However, she seemed to get the info she needed, she didnt spend a lot of time there, then removed her finger. Of course, as she left the room and told me to dress, I was dripping and dripped a number of spots on her floor (sorta like marking my territory!).
Well, I wanted URODYNAMICS done. I had to convince her to get it for me, as she didnt feel it was necessary...she finally gave in. And THAT was fun, too.
I have yet to be in the stirrups again like that... but willl do so at the drop of a hat.