how to obtain medicaid for dad without compromising mom's assets

Dad had a fall, broke his pelvis, recovered, but cannot go back to his home as it is 2 stories and he is wheelchair bound. My parents do not have the funds to update the house to accommodate him. They need a one level home. They have been renting an apartment, and are looking to sell their home. Additionally, they are exhausting their savings for homecare for dad as medicare does not cover that. He was advised to apply for medicaid, but wanted to know if the sale of their home will keep him from qualifying.