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I don't think that this can go anywhere. Obviously you could accidentally brush against her breast while checking her IV so even if that happened, it's not an assault.
There is no way for them to prove this either. I would just stand by your position, that it didn't happen, or that it was an accident if it did happen, and that should be the end of it. Sounds totally ridiculous to me. Don't let them treat you this way. You have an important job to do, and unfortunately sometimes it is embarrassing for the patient. That is just how it is, and they shouldn't be taking this feeling out on you, who is just there helping them.
Best of luck.