How exciting!
This is something that I definitely want to try. We have a Ronald McDonald House nearby and I think it would be great to take Cooper for visits. I actually found an organization in my area:
http://www.furryfriends.org/. They don't require you to take a Canine Good Citizenship test. Once Cooper gets a bit older and more trained I intend on signing him up.
Please keep us updated and let us know how your visits go!