The arguments against television are based on providing too much stimulus to a young mind, so putting a toddler in front of a blinking, flashing, huge screen for an hour is not recommended.
A ten-minute Skype call on a laptop screen is different because the image doesn't change very much. I think that this is similar to watching a person work at a computer. So I think video chatting is just fine, within limits.
We also do Skype video calls with the grandparents that live in other countries. The kids (age 1-4) are generally disinterested most of the time, or they participate for a few minutes.