I feel lonely then guilty

I’m an adult but handicapped and home bound in a rural area. I have a good relationship with my family but no social life whatsoever. The past few months have been rough with a long illness and death in the family (my mother was the main caregiver) and just when things were getting back to a new normal another close family member was in a major accident and requires 24/7 care for the next few months. I’m doing my usual part of taking care of the house and family when my Mom gets any time to rest, but the depression and grief I haven’t been able to handle on my own anymore. I’m just in a constant state of fear it’s always going to be like this or worse if anything happened to my parents. I’m up to date with meds and getting therapy set up again* but it just feels so hopeless.