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PDF Standards CSA C22.2 NO. 80601-2-78:19

Medical electrical equipment – Part 2-78: Particular requirements for basic safety and essential performance of medical robots for rehabilitation, assessment, compensation or alleviation (Adopted IEC 80601-2-78:2019, first edition, 2009-01, with Canadian deviations)
standard by CSA Group, 09/01/2019

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