Device for prostate palpation, comprising a handle for its handling joined to a transrectal scanning rod, wherein the device includes: (a) a central and an external concentric indenters (5, 6) of different heights, the central indenter being higher than the external indenter, positioned near its distal end of the scanning rod, by means of which pressure is applied to a scanning point, the indenters (5, 6) being linked to respective left and inner internal pressure sensors (10, 11) located on a support base, the external indenter being linked by a lever hinged at its end on the support base and the central indenter being linked by a cylinder, wherein the left sensor is configured to directly receive the force from the central indenter, while the inner sensor is configured to indirectly receive the force from the external indenter, wherein the indenters (5, 6) and the sensors (10, 11) are inserted into the scanning rod at its distal end and closed by a rounded cap, wherein the external indenter is integrated in the lever and is configured to transmit the force to the inner sensor by means of a central support, while the inner indenter passes through the inside of the external indenter and is configured to transmit the force to the left sensor; (b) an ultrasonic imaging system located inside the scanning rod that allows visualization of the sensor location and prostate anatomy for correct positioning of the pressure sensors in and adjacent to the cancerous area so that measurements are valid; (c) control electronics integrated in the handle for both the sensors and the ultrasonic imaging system with means of connection to external devices for analysis/control. (a) a central and an external concentric indenters (5, 6) of different heights, the central indenter being higher than the external indenter, positioned near its distal end of the scanning rod, by means of which pressure is applied to a scanning point, the indenters (5, 6) being linked to respective left and inner internal pressure sensors (10, 11) located on a support base, the external indenter being linked by a lever hinged at its end on the support base and the central indenter being linked by a cylinder, wherein the left sensor is configured to directly receive the force from the central indenter, while the inner sensor is configured to indirectly receive the force from the external indenter, wherein the indenters (5, 6) and the sensors (10, 11) are inserted into the scanning rod at its distal end and closed by a rounded cap, wherein the external indenter is integrated in the lever and is configured to transmit the force to the inner sensor by means of a central support, while the inner indenter passes through the inside of the external indenter and is configured to transmit the force to the left sensor; wherein the left sensor is configured to directly receive the force from the central indenter, while the inner sensor is configured to indirectly receive the force from the external indenter, wherein the indenters (5, 6) and the sensors (10, 11) are inserted into the scanning rod at its distal end and closed by a rounded cap, wherein the external indenter is integrated in the lever and is configured to transmit the force to the inner sensor by means of a central support, while the inner indenter passes through the inside of the external indenter and is configured to transmit the force to the left sensor; (b) an ultrasonic imaging system located inside the scanning rod that allows visualization of the sensor location and prostate anatomy for correct positioning of the pressure sensors in and adjacent to the cancerous area so that measurements are valid; (c) control electronics integrated in the handle for both the sensors and the ultrasonic imaging system with means of connection to external devices for analysis/control.