Debatable. The Gemara says that one who does not save a drowning woman is indeed a chasid shoteh, but that’s only because pikuach nefesh is dochah 610/613 of the mitzvos.
In my opinion, that proves that the reason for the heter is NOT that she is going to die, since if there really was an issur here, you would be supposed to let her die.
Rather, the reason is that there is no issur since the contact is not derech chibah, but just to save her.