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While you would need a Dr's order for an in-home nurse you do not need a Dr.'s order to hire a home healthcare agency. A nurse usually comes out maybe twice a week for about an hour at a time to assess the person. But you're right, they don't stay. It's not their job to stay. But there are services available.
Google "home healthcare" and your zip code. You should have your pick of many agencies.
What they'll do initially is send out a nurse to assess the situation. You'll discuss with her scheduling based on the person's needs and their schedule, what shifts might be appropriate, and you'll let her know what your loved one's needs are.
Home healthcare agencies can offer meal prep, medication reminders, companionship, assistance with activities of daily living (ADL's), bathing, errands, and so on. There's usually a 2-hour minimum but I think that's flexible depending upon the situation. And yes, someone with mental illness is totally eligible for these kinds of services.
The patient must be willing to accept these services.