A system for automatically detecting medical devices positioned within a room of a healthcare facility includes a patient support apparatus, a headwall unit, and a controller. The patient support apparatus includes at least first and second transceivers and the headwall unit includes at least third and fourth transceivers. At least one of the first and second transceiver and at least one of the third and fourth transceivers are controller to determine first and second estimates of distance between the respective transceiver and a medical device. The controller uses the first and second estimates of distance to determine if the medical device is positioned within a threshold distance of the patient support apparatus and/or within a predetermined volume of space within the room. The transceivers used to determine the first and second estimates of distance may be Bluetooth Low Energy transceivers and/or ultra-wideband transceivers.