Policy for Personal (home) computers on Company Network

I have a manager who brought in their home laptop to have company software installed and configurations performed. The most practical way to do this is by connecting it into the company network.

Obviously there are security concerns with doing this as we do not know that state of the computer with malware and such. Also, there are liability concerns with having posession of and performing tasks on an employees home computer.

Has anybody addressed these issues? What are you thought? Is there maybe a liability release form that has been prepared that I could look at as a sample?

Thank you.