We are going the hospice route when Pop comes home from rehab in a few weeks. Hospice is no longer just end of life care and can be utilized for years if needed. If your dad is a vet the VA also provides elder support. we can't get 24 hour hospice though because mother is still quite active and healthy, so we are also hiring a nurse as well. Also my brother and I both live on the estate and our sister is close by. Hospice is covered by Medicade and will provide such things as a hospital bed and wheelchairs.
If y'all haven't already, you and your brother should look into having your folks' powers of attorney. One bathroom in their home should be converted to handicap standards, roll-in shower if possible, lots of grab bars and the like if they don't move. <--you may want to consider this for your own home now even. A lift lazy boy is a godsend.
PM me if I may be of any help.