Per Yoreh Deah 241:3 one should not take out a thorn embedded in his father as it may cause a wound. One should also not do a phlebotomy on his father. I have heard people saying that this would extend to haircuts also as at times it may lead to slight bleeding. Is there a source for this one way or the other?
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Leket Hayosher Yoreh Deah page 37 says that it is prohibited since it may cause bleeding.
However in the Sefer Moreh Horim U'Kevodom 10:12 it brings down in the name of Rabbi Ben Zion Abba Shaul Zatzal that a son may trim his father's nails and cut his hair.
Also the Debreziner in Shaalos U'Teshuvos Beer Moshe 4:84 permits a child to cut his fathers hair.