A social worker is a great idea! I know most folks cower and are worried about their loved ones being removed, but they really do have a bucket of resources. Meals on wheels. (this will prevent you from cooking) Day care programs (giving you a chance to see your own dentist or chiropractor.) in home care givers that can help do the house work and laundry so you can concentrate on other things. Someone to come in a couple times a week and have a bath day round up. Wash up baths can be had during off days.
Let me give you some good advice. Its REALLY hard to give from an empty cup. I know you are generous, and kind and want the best for your family, but if you are not doing things to put back into your own cup, soon it will be empty, and you will be frustrated, tired, worn, worried, and feel unable to cope. You MUST take some time out for your own needs. its not a want, its not a dream, its not selfish, its a MUST for your own survival. See a movie, take a walk, go to a ball game, spend the day in a tent in the woods just talking to God. read a book, call your family. YOU need support every bit as much as they do, or you will become broken. You are not able to care for them if you are broken, so please. ASK! Ask your pastor, ask your MD, ask your social worker, ask the support groups in your area, ask your neighbors, ask at the hospital where you get treatment. Once you start asking, you will be amazed at how many walk in your shoes.
You are a wonderful person. I hope you find balance.