They mean the same thing, really. The difference has little to do with grammar. English grammar books never explain this. Grammar books will never help you to decide which way to say it. Shame, because the difference is real and it is important. The difference is imagery. Present participles paint mental pictures. They DESCRIBE. For that reason, they can be more emotive. The simple present and past merely state FACTS. With this in mind, I suggest that...
...you use the present participle if you are talking to your child or someone you care about. It works better when you are concerned. Use the participle in conversation with a friend. It is easy going and less direct. "Has your throat been hurting?" is as much a question as it is an invitation to start talking. Use the participle when you don't mind hearing a long answer.
Use the simple past "has it hurt less?" if you are the doctor. You just need to get the facts. Say it when you don't want to hear a long answer.
Those are just suggestions. You will sometimes want to do the opposite. A mother talking to her child might just want to get the facts. The doctor might want to make the patient feel relaxed.