I think it might depend on what area you are in, as to what helps comes easily, but it is there
my parents moved from one area in the NW where my Mum got very little home nursing or SW help, to another in the NE where she gets lots, after her last hospital stay there they had no problem getting the nursing help, they weren't doing her meds for her, but were coming in to do here diabetic jabs for her, & more recently they have taken over her other drugs too, because she refuses to let my Dad organise them for her & has messed her drugs up several times - so now they are doing that too
they are in the process of moving back to the NW & the SW they are currently under are helping make sure all the care gets passed back over
my Dad is also disabled, though nothing like as much as my Mum who is wheelchair bound, but they now live in a sheltered type bungalow, so the help came easily I think for that reason, SW OT etc are already attached to the housing complex they live in, so even though they refused any help in the beginning it was always there -
It did take my ringing SW & explaining my own worries over them as regards my Dad taking on too much & my Mums problems, after that the help was pretty much forced on them after my Mums next hospital stay.
It might be worth baring in mind, if they are older, they likely come from a generation who don't accept help easily & are embarrassed to ask, so even though they are saying YES, when questioned by SW & OT they play it all down - my Dad definitely did that, insisted he could cope with a lot more than he really could, even though he was accepting help
so in short, it might help if you or your brother speak to SW directly & lay it on thick about your own worries too
Also if they are still dealing with stairs etc - might they move?? - it might be worth you're looking into HANOVER RETIREMENT HOMES - they are country wide & my Mum & Dads place is lovely & includeds all kinds of things, even cooked meals in a restaurant - they could even take their pets, & its rental, despite them already owning their own property - the only thing they don't like is they moved to a different area, on a bit of a whim on my Mums part, & they don't like the area, & as my Dad says, they feel its a bit like "waiting for Godo" living there, due to high death rate - they are young incomparison to a lot of others there - hence why they are now moving back to their old place