Unfortunately, there is no such thing as "push" notification on an edit.
What thing you could do would be to share those calendars with a special 
user and check the send e-mail notification options so that it should send 
an e-mail every time the event is updated. You will then have to parse the 
e-mail to retrieve the event.

In my opinion, the best way to have such a functionality would be to check 
every N minutes for every updated events with the 
updated-min<http://code.google.com/apis/calendar/data/2.0/reference.html#Parameters>query
 parameter.
This will only return the events that have been updated since the requested 
date.

I hope this helped!

Best,
Alain

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