Is he a "REAL" doctor or just a clinical officer or even a nurse?
If the househelp is above 18 and was examined by a "REAL" doctor, then she voluntarily gave consent for the medical examination, probably after information about the particular examination had been given to her (Informed consent).
If she is below 18 years of age, it was wrong for the "doctor" to examine her without consent from her parents or a guardian. In this case the guardian been @Endo.
In all matters of examination of a female patient by a male doctor, a chaperone (female relative, female guardian, female nurse, etc) should be requested to attend the examination. This reduces medico-legal cases of sexual assault or sexual harassment.
The "doctor" failed to follow the instructions above while examining a female patient. He is therefore at fault and should, if need be, defend himself and satisfy a sitting of his peers (the medical board) that the alleged sexual harassment did not occur.
@Engo, what was the final diagnosis? Is she feeling better now? Is she back at work?
Set out to correct the world's wrongs and you will most certainly wind up adding to them.