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Does that mean that a straight-in approach cannot be made in those cases?
No.  It means that the instrument approach procedure and/or the runway approach surfaces do not meet all the associated safety standards.  If on becoming visual the pilot assesses that the aircraft is in a suitable position to land straight-in, and the pilot is considers that it is safe to do so, a straight-in approach can be conducted provided the rules for circling are followed.  Those rules include the requirement to be established within the circling area before leaving the MDA.  (AIP ENR 1.5 Section 1.7).  If the decision is made to “circle” straight-in, the pilot should take into account that the runway and the runway approach area may not meet the standards for a straight-in approach and caution should be exercised.  
7.1 WHAT APPROACHES CAN I FLY IN A HELICOPTER?
All fixed-wing Category A approaches can be flown by appropriately equipped helicopters, provided the speeds flown are within the Cat A range.  The use of Vat is not applicable to helicopters.  
7.2 ARE HELICOPTER APPROACHES DIFFERENT TO FIXED WING APPROACHES?
Approaches which are designated Cat H are designed to different parameters and can only be flown by helicopters.  Helicopter approach procedures are designed to criteria that are more appropriate to the flying speeds, performance, and handling characteristics of helicopters.  Differences include increased maximum permissible approach gradients, shorter segment lengths, and may include increased missed approach gradients.
7.3 WHY AREN’T SOME HELICOPTER APPROACHES PUBLISHED IN THE AIP/DAP?
Instrument approach procedures that are designed for emergency medical services (EMS) approaches to helicopter landing sites (HLS) are not published in the AIP/DAP.  (These operations are designated “specialised helicopter operations” under CAR 178).  Unlike fixed wing operations, which are designed to terminate in a standard aerodrome environment, EMS helicopter approaches deliver the aircraft to a point near a helicopter landing site from which specific procedures are needed for each approach to enable the visual segment to be conducted safely.  The CASR Part 173 Manual of Standards requires a helicopter operator to publish in the company operations manual specific operational procedures for each approach and HLS.
7.4 WHAT IS THE VAA-H?
The VAA-H is an Australian concept devised to facilitate the visual termination of a helicopter RNAV approach at an HLS, and performs a similar function to the circling area at an aerodrome.  
The VAA-H provides obstacle clearance within an area 0.5 NM either side of the nominal track from the MAPt to the HLS, and relies upon visual navigation using key features or “lead-in points” to navigate to the HLS so that continued flight past the MAPt to the HLS is possible in visibility that may be as low as 800m.  Descent from the MDA is not permitted until the HLS is sighted and a normal approach can be completed.
　
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本文鏈接地址：非精密進近 Non-Precision Approaches Civil Aviation Advisory Publication October 2004 CAAP 178-1(1)(12)