What kinds of doctors handle injuries related to assault and rape?

The usual first: responders are ER docs, but from there it varies. General injuries can be handled by a GP but if there are specific genito-urinary trauma(s), an OB-GYN might be good. A rape exam is a good idea if the woman can handle it, to gather evidence for future legal proceedings. After the shorter-term medical treatments, consider a psychologist or psychiatrist. Rape creates huge psychological stres