Rawlings and Urquhart were late omissions from the side that beat Port Adelaide by five points on Saturday night but their replacements, Sam Power and Ed Lower, played important roles.
Chief of football Donald McDonald said the pair only needed to get through Wednesday's main training session to be recalled for Saturday's clash with Geelong at Skilled Stadium.
Rawlings would have played against the Power if not for some soreness during training late last week while Urquhart fell ill on game day.
However, North will make one forced change with Matt Campbell (hamstring) to spend at least another fortnight on the sidelines.
The 22-year-old had returned from a hamstring injury but left the field in the fourth quarter of Saturday's game with a strain in his opposite leg.
"The worst thing was we needed an extra burst in the midfield and Matty went in there," McDonald told kangaroos.com.au.
"He was great but who would have known that the quarter would go for 37-and-a-half minutes. He went for the footy and was pretty fatigued and bang, it went.
"It's just one of those things you couldn't control."
Defender Daniel Pratt is unlikely to return before round 10 after undergoing arthroscopic surgery to repair damaged knee cartilage.
Because Pratt had also torn his medial ligament in the incident against Collingwood, McDonald said time was needed for that to heal, too.
However, the club's medical staff is hopeful the 26-year-old can start running again on Friday.
"He's still got a bit of a pronounced limp," McDonald said. "I think it just depends on the healing process in those couple of days after his arthroscope."
Emerging defender Lachie Hansen (hamstring) started running last week and is now within a month of becoming available for selection.
McDonald pointed to Campbell's hamstring issues as reason for the cautious approach needed with Hansen, who was one of North's better performers in the first five rounds of the season.
"It goes to show that with the way the game's played, these young blokes haven't had the benefit of four or five pre-seasons," he said. "They've still got pretty immature bodies.
"We've just got to make sure we get them right before we put them out there."
That philosophy extends to key position player Robbie Tarrant, who is struggling to reach the final stages in his recovery from a knee complaint.
Tarrant has carried soreness in the joint since early last month and recent running efforts have given him leg pain.
McDonald said the club had decided to hold him back for a week.
"It's just a real management one with him," he said. "It's frustrating for everybody because he's a first-round draft pick but the person who's frustrated most is Robbie himself.
"He'll be playing before too long but it's just taking a bit of extra time."
Captain Brent Harvey, who had surgery on a dislocated elbow nearly two weeks ago, got back into running on Monday for the first time since the incident.
