I have taken both my cat and dog to visit vets in the hospital and they both had a great time.
So did all the vets I think. My dog is extremely docile, she is also very good with children, she loves being patted and having her belly rubbed.
The one request that the hospital had was that the animals be up to date on all shots and healthy. The first time I was there I had a muzzle on the dog, just in case, but all the patients wanted me to take it off.
You will really be touched by how happy your animals will make sick people feel.