No argument from me there. We should help them become better parents, not limit their freedom of choice.
That's why there are so many cases of child abuse of other forms (e.g. forcing drugs, as well as physical, mental and sexual assault), and one of the reasons why the state can take your children away to adoptive or foster care.
State care isn't great. But for some children it's better than living with their parents.
So don't say "we have to respect the wishes of the parents". Because we don't.
That some children are abused is not a valid reason to treat all parents as bad parents.
Think about it. You will subject every parent to the same scruteny as the few bad ones.
You should never make rules based on excemptions.
And what makes you think state care is free of abuse? It's made up of the same people!