I agree with the others - the doctor didn't violate you in the true sense, but he could have been more sensitive. Some doctors don't have a good bedside manner. It would have been better, if he asked you to do it and tell you "I just need to feel if your tummy's okay". Don't let this discourage you from going to the doctor because you're not treating yourself well, just because he wasn't polite. In the future tell any doctor that you are sensitive and need to be told what's happening befor it happens.

My childrens Pediatrician is great and so respectful of their feelings. All the doctors I've had, always ask me to do it myself and tell me what they're going to do.