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Insurance & Medicaid codes

Inquire with your insurance company about whether they cover some or all of the cost. Prepare the following information when submitting a request to insurance companies:




You can also speak to your family doctor about getting a diagnosis for wandering. We have a Sample Doctor Letter with Wandering Code your doctor can personalize attached below; this may help you with the insurance company requirements.


Ask your doctor to include “AngelSense GPS for Wandering Prevention”


Codes to personalize for your diagnosis: 


  • Autism F84.0
  • Mild Intellectual disability F70
  • Moderate Intellectual disability F71
  • Dementia F03
  • Alzheimer’s G30.9


Wandering codes:


  • V40.31
  • Z91.83


Other Codes to use for AngelSense device/system:


  • X5012 Personal Emergency Response System (HIPAA Compliant)
  • S5160, S5161, S5162 Personal Emergency Response System (CPT/HCPC)
  • S5160K, S5161HK Health & Safety Welfare
  • E1399 Durable Medical Equipment & Other
  • F84.0 Augmentative Devices (GPS tracking device) due to Autism wandering in diseases classified elsewhere Z91.83


Medicaid Waivers that have been used to cover AngelSense:


  • Home and Community-Based Services for the Developmentally Disabled (HCBS-DD) Waiver
  • Children’s Long-Term Support (CLTS) Waiver
  • Children’s Community Options Program (CCOP)
  • HCBS Children With Autism Waiver
  • Children’s Developmental Disabilities Waiver
  • Durable Medical Equipment (DME)
  • Intellectual Disability Waiver (ID)
  • MO MO.0841 Partnership for Hope


Check the documents at the bottom of this page for Waiver Number & Waiver Name in your State.


*Most waivers will be issued to cover the AngelSense starter kit + 1 full year of service.


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