IUD Question

I recently switched from the pill to an IUD. It’s my first IUD and my doctor did a follow up exam ensuring it was properly in place and everything looked ok. However, my husband swears he can feel a sharp poking pain whenever we have sex. I researched and it sounds like they shouldn’t be able to tell it’s there at all. Has anyone else experienced this? Thinking I need to call my doctor again but wanted to ask around since she’s already checked once.