Can insurance companys drop my grandmother for not taking physical and grandfather for being sick?

i would like to find out the rights that my grandparents have with the insurance..Basically my grandfather claims that the insurance company was dropped (after 5-6 years) for him not having good health on a 150,000 policy and my grandmother was dropped for refusing to take a physical but she did not sign a waiver. Should we arrange for a lawyer..do they have rights