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As long as the 91 year old woman is mentally competent and able to make her own choices, she is responsible for her own health and can choose to continue to live alone.
Nothing totally prevents a concerned party from filing a claim of elder neglect. Any interested party can ask that an elderly person be checked up on by Adult Protective Services. It would then be up to the investigator to decide if actual neglect occurred.
From the facts stated, I wouldn't think that there would be a finding of neglect, however, every situation is different and circumstances change. I would not be able to tell you for sure that a finding of neglect wouldn't happen in the future if she were to fall and seriously injure herself when no one was around, especially if the family is already aware of a possibility that she would fall.