Yes, it is covered by Medicare. Medicare operates at a Federal level, not state.
Different clinics charge different amounts. Our ICSI cycle (at IVFA in Sydney) cost about $8k up front, and we got $5k back from Medicare, so $3k out of pocket. Extra for the excess for the day procedures at the hospital for EPU & ET (if you are not covered for IVF by private health insurance the theatre fees for these procedures are several hundred $ extra), plus about $500 for anaesthetist for EPU.
DH's procedures looking for sperm were additional to all that.
ETA: I believe several people travel from all over Australia to utilise the funded treatments at Westmead Fertility Clinic. However, I don't think you'll be able to have procedures for your DH through them, just the IVF cycle. (I could be wrong, but we didn't think that was an option for us)