it sounded like a modesty issue from your first post...sorry.
If you are interested, you can log on to the TSA/Homeland Security website and follow their directions. Letter from your doc, etc... There is a thread somewhere on here you can search for.
I've never had an issue with them and have never told anyone either...they are more worried about
people taking their shoes off
TSA shouldn't be the reason you don't go to visit your dad!