You can apply for the personal health statement at the municipality or at the CBR. After completion of the first part of the form you need to make an appointment with a doctor. See cbr.nl for information about which doctor you can approach (only in Dutch). The doctor completes the form further.
When everything is complete, send the personal health statement to the CBR. You will receive a letter from the CBR stating whether or not your application has been approved. In some cases the CBR may require an additional medical examination or driving test, so that a better estimate of your situation can be made.