WASHINGTON (CNN) -- Presidential assailant John Hinckley Jr.'s visits to his parents' home in Virginia without hospital staff supervision can continue, a federal judge said Monday, but there may need to be some changes in oversight.

At a hearing Monday federal prosecutors sought to block the visits because of concerns his aging parents are experiencing health problems and may not be up to the task of serving as his custodians. U.S. District Judge Paul Friedman agreed to let the visits continue but said he could end up deciding to add one of Hinckley's siblings as a custodian on the overnight visits with family. Hinckley's attorney, Barry Levine, argued Hinckley should continue to be able to stay with his parents in Williamsburg, Va.

"Mr. Hinckley as a matter of mental health is doing exceedingly well," said Levine. "He poses no danger -- I would submit -- to himself or others."