Robinson scored her second goal immediately after Rogers had to be pulled from the game. She was injured after hitting her head on the pole while diving to make a save.
Rogers returned to the net for the final three minutes of the game.
“She played the best game she ever played,” Kurey said of Rogers. “She made some unbelievable saves.”
Edmond Memorial led 2-0 at halftime on goals by freshman Annabeth Fouts and Robinson.
Courtney Nixon scored two goals for PC North in the second half to tie the game at 2-2, setting up the incredible finish.
Cabello was the hero despite having the stomach flu earlier in the day. She vomited on the bus heading to Edmond Memorial High School then threw up again on the field before the game.
Still, the junior played the entire 80 minutes of the contest.
Cabello has scored from that distance before on free kicks, but never two consecutive times before Tuesday night.
“I knew I had to hit it perfect,” she said. “I just hit it as hard as I could. I knew I could do it.”
PC North also defeated Edmond Memorial 3-2 earlier this season in the Bronco Cup on a goal in the final 30 seconds.
“It's more exciting this way,” Cabello said. “It's just crazy to beat them twice after they knocked us out of the first round last year.”
PC North, 10-4, advances to meet Edmond North in the second round of the playoffs on Friday night. The Huskies defeated Bishop McGuinness, 2-0.
Edmond Memorial finishes its season at 11-3.
“We thought we could make a long run,” Bohuslavicky said. “I just hate it for our seniors.”