A joke can also
raise a barrier.

I do not feel taboo. But I can see what happens if a need is always met with laughter: it can become harder to speak up.
Give the arrangement plain language. Explain it to everyone. No employee should have to stand up as “the example” for colleagues to understand.
As a manager you can stop an unhelpful remark without making someone’s health a public matter. Follow up serious or repeated incidents through your organisation’s procedures. Give the people affected a safe way to speak up.
If the immediate manager is part of the problem, another route must be known. That could be a more senior manager, HR or the organisation’s whistleblowing channel, depending on the matter.
And a low threshold for using the toilet.
Use a staff meeting to explain what is available and how faults are reported. Ask for input on the workplace, without asking anyone to share their own story.
EU-OSHA on psychosocial risks · ISO 45010, clause 5.4 and Annex E.