An RMT might not go up on criminal charges for this sort of thing, but would probably lose her RMT license, if caught.
The "naughty nurse" thing is a well-and-entertaining fantasy. It won't happen in a "true medical context," unless you have close friends in the industry that really trust you.
You can doubtless get a favorite MPA or escort to wear a nurse's outfit, probably embellished to make her look hotter. Taking the fantasy the step further, of it actually being a real nurse, on duty, or a real doctor, on duty, is what isn't too likely to happen.