No, but doctors are generally empathetic people. When I turned 45, I needed the exam for the first time. When I was bottomless and bent over the table, I told my doctor that I was very nervous about it.
He said to just try and relax and he placed a hand on my right should to reassure me. When the exam started, I said I was still nervous and so he placed his other hand on my other shoulder to continue to reassure me.
I'm a 50 year old man with bladder disease, I've had at least 5. The answer is relax your sphincter. I mean if you don't it might hurt mildly, but the lube is worse. I mean they give you a wipe but it still feels nasty until you shower, you can cry in there if you need to.