Can our home be taken after my Dad passes?

In the event, my Dad passes in a nursing home, I have heard the nursing home can take his estate for any unpaid expenses not covered. We live in Arkansas and are owners of the house he lives in now with joint tentants with right of survivorship. It was done that way years ago by my grandmother, as it was her place. I am my Dad's only heir and don't want my Dad going into a nursing home ever, but if he does, I am afraid they will take my Grandmother's place where I grew up after he passes. It's more sentimental value than anything. Its too late to protect the place any other way because transfer of real estate can be looked back up to 5 years by Medicaid so am I safe since we both own 50 %? Thanks