You might remember the compilation video from the OVA of this series a short while back. The manga version ran a decently long time, and got shockingly explicit by the end.
Dr. Rurru was a bit of a To Love-Ru influenced ecchi manga that served as Riso Maeda’s debut. Maeda would later become better known for creating Nagi no Asukara.
One of the strangest martial arts action manga (and anime) you will ever see. The anime hinted at ecchi themes, but the manga left far less to the imagination.