Rape at common law required vaginal penetration. Modern statutes have generally changed this, so it will depend on your state. But as others have commented, there could be other sex crimes they committed.
Statute of limitations may have passed, which means suspects can no longer be held criminally liable. But, in cases of rape, the time for the statute of limitations to start running doesn't begin until the victim reaches a certain age, in some states.
Again, it really boils down to the state you're in. If you are serious, then you need to contact an attorney and perhaps also talk to a licensed therapist.