For The Past Few Weeks I've Had The Urge To

For the past few weeks I've had the urge to urinate in the tip of my penis frequently. Usually once an hour and sometimes right after I've gone to the restroom. Went to my doctor and my urine didn't show anything wrong so he thought it was just a minor infection so he gave me cipro. Feeling still didn't go away so he prescribed be doxycycline and still didn't work. He wants me to see a urologist but I'm not sold on it because the sensation to urinate is only in the tip of my penis. There's no pain, burning, cloudiness, discharge, or anything else.could this still be a uti or something else?