Orgull - I think the first thing you need to come to realize is that you are not stuck. You have a difficult road ahead of you, but you are not trapped because you DO have choices and it is up to you which direction you want to head.
You are still young at 34 so don't make the mistake of thinking that it is too late to change your life. My recommendation is that you make a 10 year plan - where do you want to be in 10 years? Then outline the steps to get there and start in that direction. Just realizing that you have a way out will make you feel better.
Perhpas going back to college, even on-line courses. Since you are only working part-time you would probably qualify for financial aid and government grants. Getting your degree would open a lot of doors financially so you would not have to rely on your family so much. Not only that, but you could then afford to hire help for your parents and would not have to worry about their care also.
Take it from someone who made it out to the other side - don't stay trapped. Make a goal and work towards it.