Girls Pysical Exam (17 Year old)?

I hate, HATE doctor exams. At first I was worried about just peeing in a cup, but then I read that they also have you strip down and put a robe on, and even touch your breasts and down there. This makes me very Nervies....I am a VERY VERY Privit person. I hate the idea of other people touching me and the thought that the doctor might do these accually send me in to a panic attack. Is there any way that I can stop a doctor from touching my Breasts and down there and just have hight,weight, ears eyes, temp, blood pressure, and asking questins about my health.....but refuse to be touched.....Please????