Unauthorized visit to my home by an insurance representative

Hi i have a health policy from royalsundaram for my father when i filed for reimbursement with them a guy from tpa saicare visited my home in my absence and tried to push my parents to present the documents my parents are not medically fit. I am the prime insured. In this policy ,and policy doesn't states anywhere that they are authorized to visit to home even they are taking concent to seek information from hospital and medical practitioner. But there is no concent for home visit without any info ,when I raised this concern first they sent a mail it is fair bus practice can I take legal acti