Prenatal care. Help!!

So I am 30 weeks along in my pregnancy and so far I have been healthy and everything has looked good.. I have not had any real prenatal care though. I found out when I was roughly 4 months and just recently got accepted for Medicaid. Since then I've been trying to find a doctor but continue to get denied. My moms friends cousin is a doctor and told us that they legally cannot deny me prenatal care because if something goes wrong they are held reliable. I was wondering if this is true. If its illegal for them to deny me prenatal care because "I'm so far along"? Could I sue for this?... the only "care" I've had is a free clinic once I found out that confirmed I was pregnant and did an ultrasound. And then I had two hospital visits. One I was in a lot of pain. Ended up being a uti but they monitored the baby all morning and everything was good. Then had to go back because the uti turned into a kidney infection since they never sent in the prescription they were supposed to and I was there for three days. All days they monitored the baby. Did ultrasound. Etc. and everything looked good. Even got to find out I'm having a baby boy. I live in Florida btw if that helps. Can I sue anyone who denies me of prenatal care? This is around the time that they should be concerned and take me in. It's ridiculous that I can't find someone to make sure my baby is ok and healthy.. I am taking prenatals. Please help