The brain adapts very well to lag. If you rig up a button and a light, so the light lights up when you push the button, then gradually introduce a delay, the brain will - up to a certain point - adapt and you'll still think the button push and light are happening at the same time. Remove the delay without warning, and you'll be convinced that the light lit up before you pushed the button.
Surgery isn't like a first-person shooter, cries of "but the lag!" notwithstanding. Surgeons aren't, for the most part, waiting for the right bit of aorta to bob into their crosshairs so they can jab it with a scalpel, nor are they competing against other surgeons to get the first stitch in.
Of course spikes in lag - and connections dropping entirely - are a big concern. But I don't think anyone's suggesting hospitals all move to remote working just because they can just yet.