Yes, although they were a small minority. Of the 789 people brought to trial over their roles in the killings at Auschwitz, 750 received sentences (note that several of those remaining died while on trial, and other could not be convicted due to a lack of evidence that proved beyond reasonable doubt that they were directly involved in the killings)

As with any question on the Holocaust, I would advise that you have a quick look through the FAQ if you have not already done so: https://www.reddit.com/r/AskHistorians/wiki/faq/militaryhistory/wwii/nazigermany#wiki_holocaust_and_nazi_crimes_against_humanity

It is important to understand that the Holocaust, and the death camps, did not occur in isolation. They were, instead, an inevitable end result of Nazi racial theory and ethno-nationalism. The SS, and those who volunteered for it (and it is important to note that they were all volunteers), were central to these developments, both in terms of being presented as an ideal vision of the 'Aryan race', and committing atrocities of those the Nazis deemed 'undesirable'. Those volunteers would not just have been aware of this, but furthermore many would have been motivated to join the SS for these reasons in the first place. SS Recruits were further indoctrinated in Nazi ideology and the dehumanisation of their enemies, in a culture that promoted a cold, formalised approach to atrocities. In addition, the death camps themselves were designed to industrialise mass murder, leaving the majority of camp personnel indifferent to the killings.

As an aside, I would strongly recommend that you watch episode 20 of the documentary series "The World at War" (which is simply titled "Genocide"), as it clearly shows how the Nazi ideals of racial superiority and the involvement of the SS. In addition, it has many interviews with both camp personnel and inmates, and clearly shows the indifference of many involved to the horrors of what they committed.

I believe that the doctor you referred to is Hans Münch, who was an SS doctor at Auschwitz who was the only member of the camp personnel to be acquitted at the Nuremberg Trials and is sometimes called "the good man of Auschwitz". However, it should also be noted that he worked alongside Josef Mengele, and there were allegations made against him regarding similar atrocities.

Richard Böck was an SS driver at Auschwitz who was acquitted at the Frankfurt trials. He showed that he had continuously denied to carry out any orders that were involved in the killings, including driving victims to the gas chambers, and was allocated to duties away from the killings. Furthermore, he was one of the few camp personnel to openly and honestly testify about the camps themselves. He is also one of the people interviewed for the the World at War, and it is striking how much more humane his perspective is of the atrocities that occurred there compared to other camp workers.

It should be noted that it was very difficult to prosecute camp guards for their involvement due to the difficult in procuring evidence due to a culture of silence among those involved in the camps. Even among those acquitted, only a handful testified about what happened inside the camps.