i think that it's not about feeling guilty about what you did or didn't do, or judge yourself on how you reacted. you made a decision that in the long run was more beneficial to the immediate need you had, not about fulfilling a moral view of yourself. you made a safe choice, thats ok. the problem is the doctor putting you in that position in the first place. i hope you're doing ok! thank you for posting this.
It probably wouldn't have been a good idea to confront the Dr. so don't feel bad about that but you can report it to the hospital if his office is in the hospital or you can try calling your insurance company and asking their patient advocate. Please don't let it go unreported.