They have, and that is merely the basics of modern medicine. I had a mentor in the last world I was stolen away by, Dr. Moira O'Deorain. She taught me a great deal, and gave me the knowledge I needed to pursue more on my own.

One of the items that came here with me is the communicator I used in that world. It's filled with tomes and videos and all manner of information, if you would like to learn more about modern medicine yourself.