@Configuration
@EnableWebSecurity
public class SecurityConfigurations {
    @Autowired
    private SecurityFilter securityFilter;
    @Bean
    public SecurityFilterChain securityFilterChain(HttpSecurity http, SecurityFilter securityFilter) throws Exception {
        return http
                .csrf(csrf -> csrf.disable())
                .sessionManagement(sess -> sess.sessionCreationPolicy(SessionCreationPolicy.STATELESS))
                .authorizeHttpRequests(auth -> auth
                        .requestMatchers(new AntPathRequestMatcher("/login", "POST")).permitAll()
                        .requestMatchers(
                                new AntPathRequestMatcher("/v3/api-docs/**"),
                                new AntPathRequestMatcher("/swagger-ui/**"),
                                new AntPathRequestMatcher("/swagger-ui.html")
                        ).permitAll()

                        .anyRequest().authenticated()
                )
                .addFilterBefore(securityFilter, UsernamePasswordAuthenticationFilter.class)
                .build();
    }



    @Bean
    public AuthenticationManager authenticationManager(AuthenticationConfiguration configuration) throws Exception{
         return configuration.getAuthenticationManager();
    }
    @Bean
    public PasswordEncoder passwordEncoder(){
        return new BCryptPasswordEncoder();
    }
}

coloquei a anotação (@SecurityRequirement(name = "bearer-key) nos Controllers:

• ConsultaController
• MedicoController
• PacienteController

@SecurityRequirement(name = "bearer-key")