Laura, what level of care do they need? Assisted Living? In some states Medicaid can cover the cost of some or all of AL. In other states, no assistance for AL. You will need to contact social services at their county's Dept of Health and Human Services. Medicaid does cover LTC and MC. Please be aware that the Medicaid program has a "lookback" period of up to 5 years in some states (such as mine) but a minimum of 2 or 2.5 yrs. If you or anyone in your family has received financial gifts or assets from your parents during this lookback, it may disqualify them or delay their qualification. Do not co-mingle any funds with theirs. Even if you're not their durable PoA you can still be their assigned representative to help them fill out the application. It's not that hard if they don't have anything complicated.
If parents don't have the money, it will be very hard. As a Nurse talk to the SW where you work. If parents are low income Medicaid maybe able to help with in home care. Office of Aging maybe able to supply an aide.
Have they applied to Medicaid?
Have you talked to the local Area Agency on Aging about what resources they might be eligible for?