I am an RN in the USA and you CAN leave if you are voluntary, in fact it is considered assault, battery and additionally criminal for a health care worker to prevent anyone from leaving, or to put a hand on them without their permission unless they are declared a danger to self/others It may be Against Medical Advice but NO ONE can force treatment on you....unless you are declared incompetent by a court and have a court appointed Guardian Over Person. Even a DPOA-HC cannot force treatment on you or hold you..
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