CAN MINNESOTA MEDICAID ESTATE RECOVERY LIEN AVOIDED?

I am 50 years old and I am on medicaid (called medical istance in MN). Have been for a year and I am trying to get disability (4 different back surgeries). I own my home outright, no mortgage. It is worth about $47k right now. I have two children, now 17 & 15 who live with me along with their mother. I believe I should deed this house to them somehow before I reach the age of 55? I hope to never go into long term care as one of my children will probably stay here with me to take care of me. But in any event is there a way for me to protect this house from medicaid estate recovery so my children may inherit it? There is a lien of $6k from a bank loan(house was not collateral) and there is a 20k child support arrears owed to the childrens mother. I hope I have given all info needed. (I am using her acct so hence the lady avatar).