The GP had been on a house call when an assailant grabbed her by the neck and ordered her to drop her medicine bag, while another hit her driver with a stick.
The car was then allegedly stolen and driven away before being abandoned.
Two men have been charged in connection with the incident in north Dublin this week.
Ian Shaughnessy (22) and Derek Kavanagh (20) were refused bail and remanded in custody by Judge Patricia McNamara to appear in Cloverhill District Court tomorrow.
Shaughnessy, of Greenwood Avenue, Donaghmede, is charged with unauthorised taking of a HSE vehicle and Kavanagh, of Templeview Cresent, Clarehall, is charged with being a passenger in a stolen car.
The incident is alleged to have happened at Belcamp Grove on November 4.
One of the prosecuting gardai said she arrested Shaughnessy at Hole in the Wall Road, Dublin 13 at 11.05pm that night. He was brought to Ballymun Garda Station where he made no reply to the charge after caution.
The garda said it would be alleged that the doctor was in a HSE-registered Toyota, being driven around by a driver. The car was marked, with a green light on top.
As she was returning to the car, she was approached by a man who gripped her around the neck, while another hit the driver with a stick.
Two men made off in the car while another left the scene on foot. It was a "high-value" vehicle containing medical equipment.
The vehicle was abandoned and Shaughnessy and Kavanagh were later arrested at Hole in the Wall Road, Dublin 13.