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The unnamed woman was brought from prison to a hospital in southern Paris when she went into labour on New Year's Eve.
The guard refused to leave her in the delivery ward and only agreed when he had handcuffed her to the bed.
The incident was reported on Monday by the International Prisons Observatory, which described it as "absolutely scandalous".
Mr Perben said he had "demanded explanations".
"This cannot be allowed to recur. There has to be another way. It is absurd."
By Baby We Were Born to Run 11 February 04