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There is some degree of truth to this in that CPS can get involved under the circumstances. The best way to approach the issue is for your husband to submit to a psychiatric evaluation seeking clearance to be around your children. If you have a physician sign off on his being around the children, then you at least have a very strong mechanism to fight off any issue with CPS.
That said, you need to make sure that his judgment of conviction does not preclude him in any way from being around children. If it does, in addition to seeking a clearance letter, as referenced above, you will also need to file a petition with the court of conviction to amend the terms of his conviction to allow him to live with and/or be around your children.
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Best wishes going forward!
Just checking to see if you had any additional questions. I want you to be as comfortable as possible moving forward. Thanks