Disclosed is a soil processing device for creating cavities in soil, including a machine frame that can move in the direction of travel, and at least one drive unit that is mounted in the machine frame and moves at least one pivotally mounted piercing tool up and down in a substantially vertical direction. The touch panel includes a substrate, a touch sensing array, a first pad set, a second pad set, several first traces, and several second traces. The picker may include a hydraulic fluid to hydraulically couple at least two components, such as a moveable pump component and a cannula. The elastomer mass is shaped to simulate the perineum overlying the prostate between a penis model and an anal opening.