Several items are in play here. First of all I doubt that your camera is infected for several reasons.
- To infect a camera, the virus would need to re-flash the program storage of the camera (as the Nikon software does when a new program comes out from Nikon). Next the virus would need to be able to run on the specific type of computer chip in the camera - usually an Arm/DSP (digital signal processor) chip. A virus designed to run on a PC will not be able to do this.
- The USB interface to the camera is another matter. When you connect the camera, the camera appears to be a new device to the PC. The PC needs a driver installed in order to communicate with the camera. If you had connected the camera to the PC before - the PC probably lost the driver or it's corrupted. If this is the first time you connected the two, the PC does not have the driver installed.
- The SD card that was previously infected. If it was cleaned its is ok. The real danger is that the PC was not fully cleaned, or that perhaps you used the SD card in another infected computer and it re-infected your PC. It is possible for a virus to survive on an SD card that was reformatted. Essentially it carves out an area on the card that is not subject to being reformatted. This is fairly new and I doubt that it is the case.
Your main concern is the PC, and to some extent the sd card. The camera is the least of your concerns.