The nudity aspect is definitely embarrassing, though as others have pointed out, your choice of medical toys is relatively tame and unlikely to arouse any suspicion based solely on its nature.
That said, from your perspective of living with your parents, I can understand the extra attention of "Where did she get a stethoscope and bp cuff to begin with?" But since there's nothing inherently sexual about those items (to the outside observer), a simple response of "I just like checking my blood pressure" is likely all that's needed to explain it. And as for being undressed? Well, you thought you were alone. It's embarrassing to be seen that way, but we all get undressed every day, so it's unlikely that your being undressed was seen as anything more than catching you while you were changing clothes. Maybe your mom even continued talking as a way to show that it's no big deal -- sort of like: "I didn't even see anything, so I'm just going to continue on as usual."
But to your question of whether anyone here had been caught doing Medfet stuff, I haven't been directly, but when I was younger and still living with my parents, I had one of those "Going to the Doctor" children's books that I liked to reread. I was too old for it, but the step-by-step way that it walked you through what would happen at a doctor's exam always gave me a thrill. Once when left alone, I had forgotten to put it away, and it was out on a chair or the floor in my room. It was embarrassing to me when my mom asked what it was doing out, and I had to make up a story about rearranging some old boxes of books and how that one must have gotten left behind.