This has happened to me a number of times, at one level or anther.
When I had a colonoscopy about 5 years ago, the doctor was having difficulty navigating the various bends and curves (I don't take drugs for colonoscopies, I'm 100% awake and alert). They had me rolling back and forth, from side to side and on my back. The nurse assistants were also pressing on my belly to help with the navigation. I was very aware that the cloth gown I was wearing was up by my chest, leaving me naked from the chest down.
In my first cardiac cathertization (I've had 4, none were emergencies), After I was wheel chaired into the cath lab, They had be stand up and remove my gown. A tech razor shaved both sides of my groin with me in a standing position, completely nude save for the tape holding my IV in. Only that tech paid attention to me, the rest of the staff was preparing for my procedure.
The next two caths were done about 1 month apart. Both times, the prep was done in the holding area. A nurse tech came into my cubicle, offered me a last trip to the bathroom and, on my return, CAREFULLY moved my gown, keeping my genitals covered with a towel and performed a razor shave of both sides of my groin.
The last time, about a year ago, the doctor was going to use my wrist for access. In the holding area, the nurse tech, carefully protecting my modesty (HA) with a towel, shaved both sides (just in case the wrist failed) and my wrist and hand.
In all four cath labs, once positioned on the table, my groin was exposed and prepped (sanitized) before drapes were applied. Yes, there was exposure :-) No, I wasn't turned on at the time, I was too worried about the procedure.