How do I tell my mother it's time to move out?

Several years ago my mother was poisoned by her now ex-husband. The damage it caused over time began xhutting down her body one organ at a time. Months of hospital stays cost her every dime she had, her job, her house, and her ability to care for herself. I did what any son would do and moved her into my house so I could take care of her. Now (6 years later), I've weaned her off most of her meds and shes doing surprisingly well with occasional week long bouts of illness. She has a good steady job which she has had for a while and seems to be fairly healthy most of the time. I am the only family or friends she has at age 59. I'm a 32 year old man and living with my mother hss cost me untold amounts of stress and 2 relationships. I've mentioned a couple of times to her that she needs to start thinking of getting her own place, but of course she guilt trips me aaaaand it works. She tries to make herself as valuable to have around as she can, doing housework, watching my dog while I'm away (I travel for work), takes care of things that come up while I'm on the road, and even pays the cable bill.
I feel horrible every time I think about telling her it's time to go. She has no credit to get a house or apartment and I can't help because mines not great either. She has nobody to go to or ask for help besides me. Besides that, she's my mother.. she gave me everything when I was a kid and worked 3 jobs to do so. I feel like an ass asking her to leave, but I feel like I'm 15 living at home again and it's destroying any dignity and manhood I have left! Not only that but I can't even have a normal relationship with my mother at my house treating me like I'm 15.
I'm going crazy and need some helpful advice from impartial parties who might be understanding of the situation. Anyone have any helpful or inspirational advice???